int main(int argc, char *argv[])
{
Corpus corp("db/corpus");
int total_terms = 0;
setvbuf(stdin, (char *)malloc(1048576*16), _IOFBF, 1048576*16);
setvbuf(stdout, (char *)malloc(1048576*16), _IOFBF, 1048576*16);
for(;;)
{
static char buf[16*1048576];
const char *end;
if(doc_id % 1000 == 0)
fprintf(stderr, "processed articles: %d, total terms: %d\r", doc_id, total_terms);
if(fgets(buf, sizeof(buf)-1, stdin) != buf)
break;
end = strchr(buf, '\n');
run_line(buf, end, corp);
total_terms += term_pos;
doc_id++;
term_pos = 0;
}
fprintf(stderr, "\n");
return 0;
}
int main(){
Tserial *com;
char ch;
com = new Tserial();
com->connect("COM3", 4800, spNONE);
CvCapture *capture = 0;
IplImage *frame = 0;
int key = 0;
com->sendChar('a');
int rpx,rpy,ryx,ryy,bx,by,rpx1,rpy1,ryx1,ryy1,bx1,by1,ccx1,ccy1;
int ccx=91,ccy=45;
double theta1,theta2;
/* initialize camera */
capture = cvCaptureFromCAM(0);
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, 1024 );
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 720 );
/* always check */
if ( !capture ) {
fprintf( stderr, "Cannot open initialize webcam!\n" );
return 1;
}
/* create a window for the video */
cvNamedWindow( "image", CV_WINDOW_AUTOSIZE );
while( key != 'q' ) {
/* get a frame */
img = cvQueryFrame( capture );
/* always check */
if( !img ) break;
img0=cvCreateImage(cvGetSize(img),IPL_DEPTH_8U,3);
cvCvtColor(img,img0,CV_BGR2HSV);
cvSetMouseCallback( "image", mouseHandler, img0 );
// cvThreshold(img0, img0, 85, 255, CV_THRESH_BINARY);
cvDilate(img0,img0,NULL,1);
// cvErode(img0,img0,NULL,1);
/* display curent frame */
cvShowImage( "image", img );
rpx=corp(img0,1);
ryx=cory(img0,1);
bx=corr(img0,1);
rpy=corp(img0,0);
ryy=cory(img0,0);
by=corr(img0,0);
printf("px=%d\tyx=%d\trx=%d\t py=%d\t yy=%d\t ry=%d \n",rpx,ryx,bx,rpy,ryy,by);
rpx1=rpx-ryx;
rpy1=rpy-ryy;
bx1=bx-ryx;
by1=by-ryy;
ccx1=ccx-ryx;
ccy1=ccy-ryy;
//printf("%lf\t %lf\t %lf\t%lf\n", theta1, theta2,theta2-theta1,M_PI+theta2-theta1);
if(bx!= 0 ){
com->sendChar('o');
theta1=atan((double)rpy1/(double)rpx1);
theta2=atan((double)by1/(double)bx1);
if(theta1-theta2<0.4 && theta1-theta2>-0.4 && rpx1*bx1>0){
com->sendChar('f');
}
else if(theta1-theta2<0.1 && theta1-theta2>-0.1 && rpx1*bx1<0)
{
com->sendChar('l');
}
else if(rpx1>0 && bx1>0 && theta2-theta1<0)
com->sendChar('l');
else if(rpx1>0 && bx1>0 && theta2-theta1>0)
com->sendChar('r');
else if(rpx1 < 0 && bx1 < 0 && theta2-theta1 < 0)
com->sendChar('l');
else if(rpx1 < 0 && bx1 < 0 && theta2-theta1 > 0)
com->sendChar('r');
else if(rpx1>0 && bx1<0 &&M_PI+ theta2-theta1>0 && M_PI+theta2-theta1<M_PI){
com->sendChar('R');
//cvWaitKey(1);
}
else if(rpx1>0 && bx1<0 && M_PI+ theta2-theta1>M_PI){
com->sendChar('L');
//cvWaitKey(1);
}
else if(rpx1<0 && bx1>0 &&M_PI+ theta1-theta2>0.1 && M_PI+ theta1-theta2 <M_PI){
com->sendChar('L');
//cvWaitKey(1);
}
else if(rpx1<0 && bx1>0 && M_PI+ theta1-theta2<M_PI){
com->sendChar('R');
//cvWaitKey(1);
}
}
else if (bx==0&&sqrt(double((ccx-rpx)*(ccx-rpx))+double((ccy-rpy)*(ccy-rpy)))>=35.0){
//printf("%lf", sqrt(double((ccx-rpx)*(ccx-rpx))+double((ccy-rpy)*(ccy-rpy))));
theta1=atan((double)rpy1/(double)rpx1);
theta2=atan((double)ccy1/(double)ccx1);
com->sendChar('c');
if(theta1-theta2<0.4 && theta1-theta2>-0.4 && rpx1*ccx1>0){
com->sendChar('f');
}
else if(theta1-theta2<0.1 && theta1-theta2>-0.1 && rpx1*ccx1<0)
{
com->sendChar('l');
}
else if(rpx1>0 && ccx1>0 && theta2-theta1<0)
com->sendChar('l');
else if(rpx1>0 && ccx1>0 && theta2-theta1>0)
com->sendChar('r');
else if(rpx1 < 0 && ccx1 < 0 && theta2-theta1 < 0)
com->sendChar('l');
else if(rpx1 < 0 && ccx1 < 0 && theta2-theta1 > 0)
com->sendChar('r');
else if(rpx1>0 && ccx1<0 &&M_PI+ theta2-theta1>0 && M_PI+theta2-theta1<M_PI){
com->sendChar('R');
//cvWaitKey(1);
}
else if(rpx1>0 && ccx1<0 && M_PI+ theta2-theta1>M_PI){
com->sendChar('L');
//cvWaitKey(1);
}
else if(rpx1<0 && ccx1>0 &&M_PI+ theta1-theta2>0.1 && M_PI+ theta1-theta2 <M_PI){
com->sendChar('L');
//cvWaitKey(1);
}
else if(rpx1<0 && ccx1>0 && M_PI+ theta1-theta2<M_PI){
com->sendChar('R');
//cvWaitKey(1);
}
}
else if(sqrt(double((ccx-rpx)*(ccx-rpx))+double((ccy-rpy)*(ccy-rpy)))<40.0){
com->sendChar('s');
com->sendChar('o');
}
/* exit if user press 'q' */
key = cvWaitKey(1);
cvReleaseImage(&img0);
//com->sendChar('d');
}
/* free memory */
cvDestroyWindow( "image" );
cvReleaseCapture( &capture );
com->disconnect();
return 0;
}
int main(){
Tserial *com;
char ch;
com = new Tserial();
com->connect("COM3", 4800, spNONE);
CvCapture *capture = 0;
IplImage *frame = 0;
int key = 0;
com->sendChar('a');
int rpx,rpy,ryx,ryy,bx,by,rpx1,rpy1,ryx1,ryy1,bx1,by1;
double theta1=0.1,theta2=0.1;
/* initialize camera */
capture = cvCaptureFromCAM(0);
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, 1024 );
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 720 );
/* always check */
if ( !capture ) {
fprintf( stderr, "Cannot open initialize webcam!\n" );
return 1;
}
/* create a window for the video */
cvNamedWindow( "image", CV_WINDOW_AUTOSIZE );
while( key != 'q' ) {
/* get a frame */
img = cvQueryFrame( capture );
/* always check */
if( !img ) break;
img0=cvCreateImage(cvGetSize(img),IPL_DEPTH_8U,3);
cvCvtColor(img,img0,CV_BGR2HSV);
// cvSetMouseCallback( "image", mouseHandler, img0 );
// cvThreshold(img0, img0, 85, 255, CV_THRESH_BINARY);
/* display curent frame */
cvShowImage( "image", img0 );
rpx=corp(img0,1);
ryx=cory(img0,1);
bx=corr(img0,1);
rpy=corp(img0,0);
ryy=cory(img0,0);
by=corr(img0,0);
rpx1=rpx-ryx;
rpy1=rpx-ryy;
bx1=bx-ryx;
by1=by-ryy;
theta1=atan((double)rpy1/(double)rpx1);
theta2=atan((double)by1/(double)bx1);
if(theta1>0 && theta1-theta2>0 && rpx1>0)
com->sendChar('r');
else if(theta1<=0 && M_PI+theta1-theta2>0)
com->sendChar('l');
else if(theta1<0 && theta2>=0 && rpx<ryx)
com->sendChar('r');
else if(theta1>0 && theta1-theta2<0)
com->sendChar('l');
else if(theta1>0 && theta1-theta2>0 && rpx1<0)
com->sendChar('l');
else if(theta1-theta2==0.0 && rpx1*bx1>0)
com->sendChar('f');
else if(theta1-theta2==0.0 && rpx1*bx1<0){
com->sendChar('r');
cvWaitKey(5);
}
/* exit if user press 'q' */
key = cvWaitKey( 1 );
cvReleaseImage(&img0);
}
/* free memory */
cvDestroyWindow( "image" );
cvReleaseCapture( &capture );
com->disconnect();
return 0;
}
