void canny(unsigned char *readImage, unsigned char **writeImage, float gauSigma, float edgeT, float backT, char *composedFilename) {
float *radiansImg;
short int *gsmoothImage, *deltaX, *deltaY, *magnitude;
unsigned char *nms;
// FILE *fp;
(*writeImage) = (unsigned char *) calloc(HEIGHT*WIDTH, sizeof (unsigned char));
if (VERBOSE) printf("Gaussian smoothing ...\n");
gaussianSmooth(readImage, &gsmoothImage, gauSigma);
if (VERBOSE) printf("Computing the X and Y first derivaties.\n");
derrXY(gsmoothImage, &deltaX, &deltaY);
radianDir(deltaX, deltaY, &radiansImg, -1, -1);
if (VERBOSE) printf("Computing the magnitude of the gradient.\n");
magXY(deltaX, deltaY, &magnitude);
if (VERBOSE) printf("Doing the non-maximal suppression.\n");
nms = (unsigned char *) calloc(HEIGHT*WIDTH, sizeof (unsigned char));
nonMaxSup(magnitude, deltaX, deltaY, nms);
if (VERBOSE) printf("Doing hysteresis thresholding.\n");
applyHysteresis(magnitude, nms, edgeT, backT, *writeImage);
free(gsmoothImage);
free(deltaX);
free(deltaY);
free(magnitude);
free(nms);
}
int aimAtSideMostTarget(int side){
int most_blob, i, center, error;
int attempts = 0;
do{
captureImage();
openImage(SOURCE_FILE_NAME);
gaussianSmooth();
isolateRed();
findObjects();
if(numBlobs <= 0)
{
//printf("Couldn't find any targets =(\n");
return(0);
}
most_blob = 0;
if (side)
{
for(i = 1; i < numBlobs; i++)
{
if (blobs[most_blob].rightX < blobs[i].rightX && blobs[i].rightX - blobs[i].leftX > MIN_BLOB_WIDTH)
{
most_blob = i;
}
}
}
else
{
for(i = 1; i < numBlobs; i++)
{
if (blobs[most_blob].leftX > blobs[i].leftX && blobs[i].rightX - blobs[i].leftX > MIN_BLOB_WIDTH)
{
most_blob = i;
}
}
}
if(blobs[most_blob].rightX - blobs[most_blob].leftX >= MIN_BLOB_WIDTH)
{
//printf("Found target:\n");
//printf(" Width: %d\n", blobs[most_blob].rightX-blobs[most_blob].leftX);
center = (blobs[most_blob].rightX-blobs[most_blob].leftX)/2 + blobs[most_blob].leftX;
//printf(" Center: %d\n", center);
error = center - IMAGE_CENTER;
if(abs(error) <= MAX_TARGET_ERROR)
{
break;
}
aimAtTarget(error);
}
attempts++;
}
while (abs(error) > MAX_TARGET_ERROR && attempts < MAX_AIM_ATTEMPTS);
return(1);
}
