void startProcess()
{
cout<<"process is started"<<endl;
cv::pyrDown(image,image);
cv::pyrDown(imageDup,imageDup);
cv::pyrDown(colorDup,colorDup);
cv::pyrDown(colorImage,colorImage);
cv::pyrDown(finalImage,finalImage);
cv::pyrDown(randomPatchImage,randomPatchImage);
//cv::pyrDown(randomPatchesCreation,randomPatchesCreation);
cv::pyrDown(randomPatchDup,randomPatchDup);
cv::pyrDown(randomMappedImage,randomMappedImage);
initiation();
propogation();
cout<<"propogation phase is completed"<<endl;
cv::imshow("random patches after propogation",randomPatchDup);
addtoImage();
cv::imshow("complete image with random patches after propogation",imageDup);
randomSearch(40);
cv::imshow("complete image after random search",imageDup);
}
SonarBird::SonarBird(ros::NodeHandle nh, ros::NodeHandle nh_private):
nh_(nh),
nh_private_(nh_private)
{
ros::NodeHandle node (nh_,"SonarBird");
dummy = new DummyBird(nh_,nh_private_);
ROS_INFO("Create Dummy");
sonar = new SonarEye(nh_,nh_private_);
ROS_INFO("Create Sonar");
initiation();
}
void start() {
ContextSettings settings;
settings.antialiasingLevel = 8;
RenderWindow window(VideoMode(800, 800), "Blocks", sf::Style::Default, settings);
Group *group = new Group;
initiation(*group);
while (window.isOpen()) {
update(window, *group);
draw(*group, window);
}
delete_blocks(*group);
delete group;
}
BirdEye::BirdEye(ros::NodeHandle nh, ros::NodeHandle nh_private):
nh_(nh),
nh_private_(nh_private)
{
ros::NodeHandle node (nh_,"birdeye");
listener = new(tf::TransformListener);
transform = new(tf::StampedTransform);
targetPosClient = nh_private_.serviceClient<quadrotorTestControl::getTargetPosition>("/quad/getTargetPosition");
targetVelClient = nh_private_.serviceClient<quadrotorTestControl::getTargetVelocity>("/quad/getTargetVelocity");
//initiate variables
initiation();
}
VisualBird::VisualBird(ros::NodeHandle nh, ros::NodeHandle nh_private):
nh_(nh),
nh_private_(nh_private)
{
ros::NodeHandle node (nh_,"VisualBird");
dummy = new DummyBird(nh_,nh_private_);
ROS_INFO("Create Dummy");
eye = new BirdEye(nh_,nh_private_);
ROS_INFO("Create Eye");
nav = new Potential(nh_,nh_private_);
ROS_INFO("Create Navigation Function");
visual_sub = node.subscribe("/pos_points_temp",1,&VisualBird::visualCallback,this);
initiation();
}
int main(int argc, char *argv[])
{
get_info();
glutInit(&argc, argv);
glutInitWindowPosition(0, 0);
glutInitWindowSize(window_size_x, window_size_y);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
glutCreateWindow(argv[0]);
initiation();
init();
glutDisplayFunc(display);
glutIdleFunc(idle);
glutMainLoop();
return 0;
}
/**
* alloue size octets de mémoire au système
* @param size: taille de l'allocation memoire demandée
* @return pointeur sur la zone mémoire allouée
*/
void *malloc(size_t size)
{
t_block *pnt;
initiation();
pthread_mutex_lock(&list.mutex);
pnt = search_free_block(size);
if (pnt != NULL)
{
set_attribute_block(pnt, size);
}
else
{
pnt = add_block_end(size);
}
pthread_mutex_unlock(&list.mutex);
return (pnt->pnt);
}
VisualBird::VisualBird(ros::NodeHandle nh, ros::NodeHandle nh_private):
nh_(nh),
nh_private_(nh_private)
{
ros::NodeHandle node (nh_,"VisualBird");
dummy = new DummyBird(nh_,nh_private_);
ROS_INFO("Create Dummy");
eye = new BirdEye(nh_,nh_private_);
ROS_INFO("Create Eye");
nav = new Potential(nh_,nh_private_);
ROS_INFO("Create Navigation Function");
visual_vel_sub = node.subscribe("/pos_points_temp",1,&VisualBird::visualVelCallback,this);
visual_pos_sub = node.subscribe("/com_temp",1,&VisualBird::visualPosCallback,this);
target_pub = node.advertise<geometry_msgs::PointStamped>("targetPoint",1);
pos_points_pub = node.advertise<std_msgs::Float32MultiArray>("set_target_states", 10);
initiation();
}
int main()
{
Conf::init_instance( CONF_FILE );
my_daemon();
Logger::init_instance();
Split::init_instance();
PageDB::init_instance();
InvertIdx::init_instance();
int start = clock();
initiation();
printf("%.3lf second\nInitialization completed\n", double( clock()-start)/ CLOCKS_PER_SEC);
Conf cf = Conf::get_instance();
size_t queuesize = strtoul( cf["queuesize"].c_str() ,NULL, 0);
size_t threadsnum = strtoul( cf["threadsnum"].c_str(), NULL, 0 );
ThreadPool threadpool( queuesize, threadsnum );
threadpool.start();
unsigned short port = atoi( cf["port"].c_str() );
EpollPoller epoller( cf["ip"], port, threadpool );
epoller.loop();
epoller.unloop();
threadpool.stop();
InvertIdx::shut_down();
PageDB::shut_down();
Split::shut_down();
Logger::shut_down();
return 0;
}
int main(void)
{
initiate_variables();
initiation();
int fjarrstyrt = (PIND & 0x01); //1 då roboten är i fjärrstyrt läge
initiate_request_timer();
if(fjarrstyrt == 1) // fjärrstyrt läge
{
for(long i = 0; i < 480000; i++){}
remotecontrol();
}
else // Autonom
{
MasterInit();
for(long i = 0; i < 480000; i++){}
while(home == 0)
{
TransmitSensor(0);
char i = 0;
if(n == 0)
{
i = 0;
}
else
{
i = 1;
}
if(posdistance > 31 + i) //40/2.55125)*0.9
{
updatepos();
if(n != 4)
{
n = n + 1;
}
else
{
n = 0;
}
}
if(!onelap)
{
firstlap();
}
else if(1) // else vill inte fungera på atmegan
{
secondlap();
}
}
stopp();
// Liten dans när den är på startpositionen
while(1)
{
rotate90right();
rotate90left();
}
}
return 0;
}
void node_simulation(int view_con){
if (first_count == 1){
initiation();
first_count--;
}
int i;
int j;
double max = 0.00375;
double min = -0.00375;
for (i = 0; i < num_points; i++){
if (nei[i].K > max){
nei[i].K = max;
}
if (nei[i].K < min){
nei[i].K = min;
}
}
//printf("max = %lf, min = %lf\n", max, min);
glPushMatrix();
//glCullFace(GL_FRONT);
//glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
//glMaterialfv(GL_FRONT, GL_DIFFUSE, blue2);
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
glEnable(GL_COLOR_MATERIAL);
glDisable(GL_LIGHTING);
glBegin(GL_TRIANGLES);
/*for (i = 0; i < num_triangles; i++){
glVertex3d(point[triangle[i][0]][0], point[triangle[i][0]][1], point[triangle[i][0]][2]);
glVertex3d(point[triangle[i][1]][0], point[triangle[i][1]][1], point[triangle[i][1]][2]);
glVertex3d(point[triangle[i][2]][0], point[triangle[i][2]][1], point[triangle[i][2]][2]);
}*/
#if 1
double nrml_vec[3];
for (i = 0; i < num_triangles; i++){
for (j = 0; j < 3; j++){
//if (nei[i].K > -0.07){
//glColor3d(0.0, 0.0, 1.0);
//normal(point[triangle[nei[i].T[j]][0]], point[triangle[nei[i].T[j]][1]], point[triangle[nei[i].T[j]][2]], nrml_vec);
//glNormal3d(nrml_vec[0], nrml_vec[1], nrml_vec[2]);
if (nei[triangle[i][j]].K < (max - min) / 2){
//printf("%lf, %lf\n", point[triangle[i][j]][0], point[triangle[i][j]][1]);
//glColor3d(0.0, (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), 1.0 - (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min));
glColor3d(0.0, (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), ((max + min) / 2.0 - nei[triangle[i][j]].K) / ((max + min) / 2.0 - min));
glVertex3d(point[triangle[i][j]][0], point[triangle[i][j]][1], point[triangle[i][j]][2]);
}
else{
//glColor3d((nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), 1.0 - (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), 0.0);
glColor3d((nei[triangle[i][j]].K - (max + min) / 2.0) / ((max + min) / 2 - min), 0.0, (max - nei[triangle[i][j]].K) / ((max + min) / 2 - min));
glVertex3d(point[triangle[i][j]][0], point[triangle[i][j]][1], point[triangle[i][j]][2]);
}
// }
}
}
#endif
glEnd();
glPopMatrix();
}
