int main(void) {
int data[13] = { 0 };
int lowPass[33] = { 0 };
int highPass[5] = { 0 };
int deriv[31] = { 0 };
int squar[31] = { 0 };
int mwi[3] = { 0 };
int time[8] = { 0 };
int rPeaks[8] = { 0 };
int counter = 0;
for (int i = 0; i < 10000; i++) {
data[i % 13] = getNextData();
lowpass(data, lowPass, 13, 33, i);
highpass(lowPass, highPass, 33, 5, i);
derivative(highPass, deriv, 5, 31, i);
squaring(deriv, squar, 31, 31, i);
movingWindow(squar, mwi, 31, 3, i);
counter = findPeaks(mwi, i, time, rPeaks);
if (counter != -1) {
int intensity = rPeaks[counter % 8];
int RRinterval = time[counter % 8] - time[(counter - 1 + 8) % 8];
int pulse = 60000 / (RRinterval * 1000 / 250);
printf("R-Peak intensity: %d\nTime-value: %d s (%d samples)\nRR-interval: %d\nPulse: %d beats/minute\n\n",
intensity, i / 250, i, RRinterval, pulse);
if (rPeaks[counter % 8] < 2000) {
printf("WARNING! low R-peak value\n");
}
}
}
return 0;
}
/*The filters function uses filter.h's lowpass(), highpass(), derivative(), squarring() and mwi() functions on the
*data loaded from the ecgScanner() function.
**/
int filters() {
// LOW-PASS FILTER
mem.lpmem[getIndex(33, mem.index[1]-first, 1)] = lowpass(mem.input[getIndex(13, mem.index[0], 0)],
mem.input[getIndex(13, mem.index[0], -6)],
mem.input[getIndex(13, mem.index[0], -12)],
mem.lpmem[getIndex(33, mem.index[1], 0)],
mem.lpmem[getIndex(33, mem.index[1], -1)]);
mem.index[1] += 1-first;
// HIGH-PASS FILTER
mem.hpmem[getIndex(5, mem.index[2]-first, 1)] = highpass(mem.lpmem[getIndex(33, mem.index[1], 0)],
mem.lpmem[getIndex(33, mem.index[1], -16)],
mem.lpmem[getIndex(33, mem.index[1], -17)],
mem.lpmem[getIndex(33, mem.index[1], -32)],
mem.hpmem[getIndex(5, mem.index[2], 0)]);
mem.index[2] += 1;
// DERIVATIVE FILTER
mem.derivativemem = derivative(mem.hpmem[getIndex(5, mem.index[2], 0)],
mem.hpmem[getIndex(5, mem.index[2], -1)],
mem.hpmem[getIndex(5, mem.index[2], -3)],
mem.hpmem[getIndex(5, mem.index[2], -4)]);
// SQUARING FILTER
mem.squarredmem[getIndex(30, mem.index[3]-first, 1)] = squarring(mem.derivativemem);
mem.index[3] += 1-first;
// MOVING WINDOW INTEGRATION FILTER
mem.mwimem[getIndex(3, mem.index[4]-first, 1)] = mwi(mem.squarredmem, 30);
mem.index[4] += 1-first;
return 0;
}
float myProcess(float AudioIn)
{
float sample;
float envGain[2];
int m = 0;
scalar[0] =( powf( 0.5f, (1.0f/(((float)ADC_values[4]) * INV_TWO_TO_12 * (float)SAMPLE_RATE))));
scalar[1] =( powf( 0.5f, (1.0f/(((float)ADC_values[5]) * INV_TWO_TO_12 * (float)SAMPLE_RATE))));
//set frequency of sine and delay
phaseInc = (MtoF((currParamValue[ADC_FREQ]) * 109.0f + 25.f)) * INV_SAMPLE_RATE;
setDelay(currParamValue[ADC_DELAY]);
AudioGateVal = ((float)ADC_values[3]) * INV_TWO_TO_12 * 0.2f;
env_detector_thresh = AudioGateVal;
if (AudioIn < AudioGateVal)
{
AudioIn = 0;
}
envGain[0] = adc_env_detector(AudioIn, 0);
envGain[1] = adc_env_detector(AudioIn, 1);
sample = ((KSprocess(AudioIn) * 0.7f) + AudioIn * 0.8f);
sample += (0.8f * ((wavetableSynth() * envGain[0] * 0.8f) + (whiteNoise() * envGain[1] * 0.18f)));
sample = highpass(FastTanh2Like4Term(sample * gainBoost));
//update Parameters
for (m = 0; m < NUM_PARAMS; m++)
{
if ((currParamValue[m] >= destParamValue[m]) && (dirParamInc[m] == 1))
{
mParamInc[m] = 0.0f;
currParamValue[m] = destParamValue[m];
}
else if ((currParamValue[m] <= destParamValue[m]) && (dirParamInc[m] == -1))
{
mParamInc[m] = 0.0f;
currParamValue[m] = destParamValue[m];
}
else if (dirParamInc[m] == 0)
{
mParamInc[m] = 0.0f;
currParamValue[m] = destParamValue[m];
}
else
{
currParamValue[m] += mParamInc[m];
}
}
return sample;
}
int main(int argc, char *argv[])
{
FILE *fp;
int n;
int16_t buf[BB], out[BB];
int error;
static const pa_sample_spec ss = {
.format = PA_SAMPLE_S16LE, .rate = 44100, .channels = 1};
pa_simple *s = NULL;
if (!(s = pa_simple_new(NULL, argv[0], PA_STREAM_PLAYBACK, NULL, "playback",
&ss, NULL, NULL, &error)))
{
fprintf(stderr, __FILE__ ": pa_simple_new() failed: %s\n",
pa_strerror(error));
goto finish;
}
fp = fopen("out.wav", "rb");
if (!fp)
exit(-1);
fread(buf, 1, 44, fp);
n = fread(buf, 2, BB, fp);
while (!feof(fp))
{
highpass(buf, out, BB, 1.0f, 10);
memcpy(buf, out, BB * 2);
lowpass(buf, out, BB, 1.0f / 44100.0f, 0.00002);
if (pa_simple_write(s, out, (size_t)n * 2, &error) < 0)
{
fprintf(stderr, __FILE__ ": pa_simple_write() failed: %s\n",
pa_strerror(error));
goto finish;
}
n = fread(buf, 2, BB, fp);
}
if (pa_simple_drain(s, &error) < 0)
{
fprintf(stderr, __FILE__ ": pa_simple_drain() failed: %s\n",
pa_strerror(error));
goto finish;
}
finish:
if (s)
pa_simple_free(s);
return 0;
}
int pre_processing_c ()
{
int i_img, sup;
//Tk_PhotoHandle img_handle;
//Tk_PhotoImageBlock img_block;
if( verbose ) printf( "Filtering with Highpass");
//Tcl_SetVar(interp, "tbuf", val, TCL_GLOBAL_ONLY);
//Tcl_Eval(interp, ".text delete 2");
//Tcl_Eval(interp, ".text insert 2 $tbuf");
/* read support of unsharp mask */
fpp = fopen ("parameters/unsharp_mask.par", "r");
if ( fpp == 0) { sup = 12;}
else { fscanf (fpp, "%d\n", &sup); fclose (fpp); }
for (i_img=0; i_img<n_img; i_img++)
{
highpass (img_name[i_img], img[i_img], img[i_img], sup, 0, chfield, i_img);
if (display) {
#if 0
img_handle = Tk_FindPhoto( interp, "temp");
Tk_PhotoGetImage (img_handle, &img_block);
tclimg2cimg (interp, img[i_img], &img_block);
sprintf(val, "newimage %d", i_img+1);
Tcl_GlobalEval(interp, val);
#endif
}
}
if(verbose)printf( "...done\n");
//Tcl_SetVar(interp, "tbuf", val, TCL_GLOBAL_ONLY);
//Tcl_Eval(interp, ".text delete 3");
//Tcl_Eval(interp, ".text insert 3 $tbuf");
return TCL_OK;
}
void accel_update(Accel& accel , double vref, double mass){
float x1=0.0,y1=0.0;
double v[3], angle[3];
//read accelerometer
adxl.readG(&v[X],&v[Y],&v[Z]);
double r=module((v[X]),(v[Y]),(v[Z]));
// rotate XYZ to fit G
angle[X]=alpha((v[X]),r)+offset[X];
angle[Y]=alpha((v[Y]),r)+offset[Y];
angle[Z]=alpha((v[Z]),r)+offset[Z];
// get the new projected vectors[x,y,z] after rotation and
// compute the force F[N]=m*accel
accel.force[X]=aalpha(angle[X]+ORTHOGONAL,r) * 9.81 * mass ;
accel.force[Y]=aalpha(angle[Y]+ORTHOGONAL,r) * 9.81 * mass ;
accel.force[Z]=aalpha(angle[Z],r) * 9.81 * mass ;
// low-freq force on X
accel.filtered_forward_force=0.2*accel.force[X]+0.8*accel.filtered_forward_force;
//
// remove high freq for pedelec A,B
float pedelec=highpass(accel.force[X],x1,y1,0.2,0.14);
if (pedelec>0.0)
accel.pedelec_a= 0.6*pedelec + 0.4*accel.pedelec_a;
else
accel.pedelec_b= 0.6*pedelec + 0.4*accel.pedelec_b;
//rotate to the initial position
if (offset[Z]==0.0 && offset[X]==ORTHOGONAL){
offset[X]=offset[X]-accel.force[X];
offset[Y]=offset[Y]-accel.force[Y];
offset[Z]=offset[Z]-accel.force[Z];
}
}
int main(int argc, char **argv) {
int commandArgs = 1;
int i;
char x;
char performContrast = 0;
char fft_filename[FILENAME_LENGTH];
char cdf_filename[FILENAME_LENGTH];
char histo_filename[FILENAME_LENGTH];
float contrastLow = 0.0;
float contrastHigh = 0.0;
float highpasslevel;
float lowpasslevel;
float percentCorrupt;
float sigma;
float brightness;
float sat;
int m;
int replaceWithM;
int performHistogram = 0;
int performCDF = 0;
int performFFT = 0;
int performVectorMedianFilter = 0;
int performMedianFilter = 0;
int performMeanFilter = 0;
int performSpacialFilter = 0;
int performLevelSlicing = 0;
int performEqualize = 0;
int performColorScale = 0;
int performSpatialReduceWidth = 0;
int performSpatialReduceHeigth = 0;
int performHighpass = 0;
int performLowpass = 0;
int performComponentMedianFilter = 0;
int performVectorOrderStatistic = 0;
int performVectorSpacialOrderStatistic = 0;
int performVectorMedianOrderStatistic = 0;
int performMinkowskiAddition = 0;
int performMinkowskiSubtraction = 0;
int performMinkowskiOpening = 0;
int performMinkowskiClosing = 0;
int performEdgeDetectOne = 0;
int performEdgeDetectTwo = 0;
int performEdgeDetectThree = 0;
int performEdgeDetectFour = 0;
int performAddGaussianNoise = 0;
int performAddSaltPepperNoise = 0;
int performSetBrightness = 0;
int performSetSaturation = 0;
int performBrightFilter = 0;
int imageWriteNecessary = 0;
int maskwidth = 0;
int maskheight = 0;
int maskrepeat = 0;
FILE *in = stdin;
FILE *out = stdout;
struct portImage *pi;
if (argc < 3) {
printf("\n");
printf(" Usage: %s [inputFile] ([outputFile]) [option] ([option] ...)\n", argv[0]);
printf("\n");
printf(" InputFile: Either a filename or '-' for stdin.\n");
printf(" OutputFile: Either a filename or '-' for stdout. (Not needed if no output necessary.)\n");
printf("\n");
printf(" Options:\n");
printf(" -ghisto FILENAME Graph Histogram\n");
printf(" -gcdf FILENAME Graph Cumulative Distribution\n");
printf(" -gfft FILENAME Graph FFT plot\n");
printf(" -color n Reduce color scale to n\n");
printf(" -spatial WIDTH-HEIGHT Perform spacial reduction to Width and Height\n");
printf(" -level n Perform level slicing from graylevel n to graylevel n+10\n");
printf(" -con LOW-HIGH Scale image contrast from LOW graylevel percentage to HIGH graylevel percentage\n");
printf(" -equ Histogram Eqaulization\n");
printf(" -medianf n Simple Median Filter of window size n*n\n");
printf(" -meanf n Simple Mean Filter of window size n*n\n");
printf(" -cmf n Component Median Filter of window size n*n\n");
printf(" -vmf n Vector Median Filter of window n*n\n");
printf(" -sf Spacial Filter\n");
printf(" -vos n v Vector Order Stat of window size n*n and value v\n");
printf(" -vmos n m [01] Vector Median Order Stat of window size n*n, m threshold, and 0 or 1(True) replace with m\n");
printf(" -vsos n m [01] Vector Spacial Order Stat of window size n*n, m threshold, and 0 or 1(True) replace with m\n");
printf(" -brightf n Perform an Brightness filter using HSV colorspace on size n*n window.\n");
printf(" -bright %% Set brightness to %% percent\n");
printf(" -sat %% Set saturation to %% percent\n");
printf(" -hp %% Highpass filter of %% percent\n");
printf(" -lp %% Lowpass filter of %% percent\n");
printf(" -ma NxM R Perform Minkowski Addition using NxM mask, repeated R times.\n");
printf(" -ms NxM R Perform Minkowski Subtraction using NxM mask, repeated R times.\n");
printf(" -mo NxM R Perform Minkowski Opening using NxM mask, repeated R times.\n");
printf(" -mc NxM R Perform Minkowski Closing using NxM mask, repeated R times.\n");
printf(" -e1 Perform Edge Detection using X/(X – B)\n");
printf(" -e2 Perform Edge Detection using (X + B)/X\n");
printf(" -e3 Perform Edge Detection using [(X+B)/(X-B)]-B\n");
printf(" -e4 n Experimental Edge Detection on Color Images using n*n window.\n");
printf(" -noiseG p s Add Gaussian noise to p (0 to 1 floating) percent of image with s sigma noise.\n");
printf(" -noiseSP p Add Salt and Pepper noise to p (0 to 1 floating) percent of image.\n");
printf("\n");
return(1);
}
if (strcmp(argv[commandArgs], "-") != 0) {
in = fopen(argv[1],"r");
if (in == NULL) {
fprintf(stderr, "File '%s' failed to open for reading.\n", argv[1]);
exit(1);
}
}
commandArgs++;
if (strcmp(argv[commandArgs], "-") != 0 && argv[commandArgs][0] != '-') {
commandArgs++;
out = fopen(argv[2],"w");
if (out == NULL) {
fprintf(stderr, "File '%s' failed to open for writing.\n", argv[2]);
exit(1);
}
}
for (; commandArgs < argc; commandArgs++) {
if (strcmp(argv[commandArgs], "-color") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performColorScale);
}
if (strcmp(argv[commandArgs], "-spatial") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d%c%d", &performSpatialReduceWidth, &x, &performSpatialReduceHeigth);
}
if (strcmp(argv[commandArgs], "-level") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performLevelSlicing);
}
if (strcmp(argv[commandArgs], "-con") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%f%c%f", &contrastLow, &performContrast, &contrastHigh);
}
if (strcmp(argv[commandArgs], "-vos") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performVectorOrderStatistic);
commandArgs++;
sscanf(argv[commandArgs], "%d", &m);
}
if (strcmp(argv[commandArgs], "-vmf") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performVectorMedianFilter);
}
if (strcmp(argv[commandArgs], "-sf") == 0) {
imageWriteNecessary = 1;
performSpacialFilter = 1;
}
if (strcmp(argv[commandArgs], "-vmos") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performVectorMedianOrderStatistic);
commandArgs++;
sscanf(argv[commandArgs], "%d", &m);
commandArgs++;
sscanf(argv[commandArgs], "%d", &replaceWithM);
}
if (strcmp(argv[commandArgs], "-vsos") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performVectorSpacialOrderStatistic);
commandArgs++;
sscanf(argv[commandArgs], "%d", &m);
commandArgs++;
sscanf(argv[commandArgs], "%d", &replaceWithM);
}
if (strcmp(argv[commandArgs], "-cmf") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performComponentMedianFilter);
}
if (strcmp(argv[commandArgs], "-medianf") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performMedianFilter);
}
if (strcmp(argv[commandArgs], "-meanf") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performMeanFilter);
}
if (strcmp(argv[commandArgs], "-equ") == 0) {
imageWriteNecessary = 1;
performEqualize = 1;
}
if (strcmp(argv[commandArgs], "-hp") == 0) {
imageWriteNecessary = 1;
commandArgs++;
performHighpass = 1;
sscanf(argv[commandArgs], "%f", &highpasslevel);
}
if (strcmp(argv[commandArgs], "-lp") == 0) {
imageWriteNecessary = 1;
commandArgs++;
performLowpass = 1;
sscanf(argv[commandArgs], "%f", &lowpasslevel);
}
if (strcmp(argv[commandArgs], "-brightf") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performBrightFilter);
}
if (strcmp(argv[commandArgs], "-bright") == 0) {
imageWriteNecessary = 1;
commandArgs++;
performSetBrightness = 1;
sscanf(argv[commandArgs], "%f", &brightness);
}
if (strcmp(argv[commandArgs], "-sat") == 0) {
imageWriteNecessary = 1;
commandArgs++;
performSetSaturation = 1;
sscanf(argv[commandArgs], "%f", &sat);
}
if (strcmp(argv[commandArgs], "-ghisto") == 0) {
commandArgs++;
performHistogram = 1;
strncpy(histo_filename, argv[commandArgs], FILENAME_LENGTH);
}
if (strcmp(argv[commandArgs], "-gcdf") == 0) {
commandArgs++;
performCDF = 1;
strncpy(cdf_filename, argv[commandArgs], FILENAME_LENGTH);
}
if (strcmp(argv[commandArgs], "-gfft") == 0) {
commandArgs++;
performFFT = 1;
strncpy(fft_filename, argv[commandArgs], FILENAME_LENGTH);
}
if (strcmp(argv[commandArgs], "-ma") == 0) {
imageWriteNecessary = 1;
performMinkowskiAddition = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d%c%d", &maskwidth, &x, &maskheight);
commandArgs++;
sscanf(argv[commandArgs], "%d", &maskrepeat);
}
if (strcmp(argv[commandArgs], "-ms") == 0) {
imageWriteNecessary = 1;
performMinkowskiSubtraction = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d%c%d", &maskwidth, &x, &maskheight);
commandArgs++;
sscanf(argv[commandArgs], "%d", &maskrepeat);
}
if (strcmp(argv[commandArgs], "-mo") == 0) {
imageWriteNecessary = 1;
performMinkowskiOpening = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d%c%d", &maskwidth, &x, &maskheight);
commandArgs++;
sscanf(argv[commandArgs], "%d", &maskrepeat);
}
if (strcmp(argv[commandArgs], "-mc") == 0) {
imageWriteNecessary = 1;
performMinkowskiClosing = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d%c%d", &maskwidth, &x, &maskheight);
commandArgs++;
sscanf(argv[commandArgs], "%d", &maskrepeat);
}
if (strcmp(argv[commandArgs], "-e1") == 0) {
imageWriteNecessary = 1;
performEdgeDetectOne = 1;
}
if (strcmp(argv[commandArgs], "-e2") == 0) {
imageWriteNecessary = 1;
performEdgeDetectTwo = 1;
}
if (strcmp(argv[commandArgs], "-e3") == 0) {
imageWriteNecessary = 1;
performEdgeDetectThree = 1;
}
if (strcmp(argv[commandArgs], "-e4") == 0) {
imageWriteNecessary = 1;
commandArgs++;
sscanf(argv[commandArgs], "%d", &performEdgeDetectFour);
}
if (strcmp(argv[commandArgs], "-noiseG") == 0) {
imageWriteNecessary = 1;
performAddGaussianNoise = 1;
commandArgs++;
sscanf(argv[commandArgs], "%f", &percentCorrupt);
commandArgs++;
sscanf(argv[commandArgs], "%f", &sigma);
}
if (strcmp(argv[commandArgs], "-noiseSP") == 0) {
imageWriteNecessary = 1;
performAddSaltPepperNoise = 1;
commandArgs++;
sscanf(argv[commandArgs], "%f", &percentCorrupt);
}
}
pi = readImage(in);
if (performHighpass || performLowpass || performFFT) {
FFT2D(pi);
if (performHighpass) highpass(pi, highpasslevel);
if (performLowpass) lowpass(pi, lowpasslevel);
if (performFFT) graph_fftlogplot(pi, fft_filename);
IFFT2D(pi);
}
if (performEdgeDetectOne || performEdgeDetectTwo || performEdgeDetectThree ||
performMinkowskiAddition || performMinkowskiSubtraction || performMinkowskiOpening || performMinkowskiClosing)
thresholdImage(pi);
if (performAddGaussianNoise) addGaussianNoise(pi, percentCorrupt, sigma);
if (performAddSaltPepperNoise) addSaltPepperNoise(pi, percentCorrupt);
if (performMedianFilter) simpleMedianFilter(pi, performMedianFilter);
if (performMeanFilter) simpleMeanFilter(pi, performMeanFilter);
if (performComponentMedianFilter) componentMedianFilter(pi, performComponentMedianFilter);
if (performVectorOrderStatistic) vectorOrderStatistic(pi, performVectorOrderStatistic, m);
if (performVectorSpacialOrderStatistic) vectorSpacialOrderStatistic(pi, performVectorSpacialOrderStatistic, m, replaceWithM);
if (performVectorMedianOrderStatistic) vectorMedianOrderStatistic(pi, performVectorMedianOrderStatistic, m, replaceWithM);
if (performVectorMedianFilter) vectorMedianFilter(pi, performVectorMedianFilter);
if (performSpacialFilter) spacialFilter(pi);
if (performBrightFilter) HSV_ValueFilter(pi, performBrightFilter);
if (performColorScale) scale_reduce(pi,performColorScale);
if (performSetBrightness) setBrightness(pi,brightness);
if (performSetSaturation) setSaturation(pi,sat);
if (performSpatialReduceWidth) spacial_reduce(pi,performSpatialReduceWidth, performSpatialReduceHeigth);
if (performContrast) contrast_stretching(pi, contrastLow, contrastHigh);
if (performLevelSlicing) level_slice(pi, performLevelSlicing);
if (performEqualize) equalize(pi);
if (performHistogram) graph_histogram(pi, histo_filename);
if (performCDF) graph_cdf(pi, cdf_filename);
if (performMinkowskiAddition)
for (i = 0; i < maskrepeat; i++)
minkowskiAddition(pi, maskwidth, maskheight);
if (performMinkowskiSubtraction)
for (i = 0; i < maskrepeat; i++)
minkowskiSubtraction(pi, maskwidth, maskheight);
if (performMinkowskiOpening)
for (i = 0; i < maskrepeat; i++)
minkowskiOpening(pi, maskwidth, maskheight);
if (performMinkowskiClosing)
for (i = 0; i < maskrepeat; i++)
minkowskiClosing(pi, maskwidth, maskheight);
if (performEdgeDetectOne) {
struct portImage *pc = copyImage(pi);
imageWriteNecessary = 1;
minkowskiSubtraction(pc, 3, 3);
minkowskiDivision(pi, pc);
freeImage(pc);
}
if (performEdgeDetectTwo) {
struct portImage *pc = copyImage(pi);
imageWriteNecessary = 1;
minkowskiAddition(pi, 3, 3);
minkowskiDivision(pi, pc);
freeImage(pc);
}
if (performEdgeDetectThree) {
struct portImage *pd = copyImage(pi);
maskrepeat = 3;
imageWriteNecessary = 1;
for (i = 0; i < maskrepeat; i++) {
minkowskiAddition(pi, 3, 3);
minkowskiSubtraction(pd, 3, 3);
}
minkowskiDivision(pi, pd);
minkowskiSubtraction(pi, 3, 3);
freeImage(pd);
}
if (imageWriteNecessary)
writeImage(pi, out);
freeImage(pi);
if (in != stdin) fclose(in);
if (out != stdout) fclose(out);
return 0;
} /* End Main */
static void highpass3(vec3_t value, vec_t fracx, vec_t fracy, vec_t fracz, vec3_t store, vec3_t out)
{
out[0] = highpass(value[0], fracx, &store[0]);
out[1] = highpass(value[1], fracy, &store[1]);
out[2] = highpass(value[2], fracz, &store[2]);
}
static void process_file(FILE *fin, FILE *fout, char *infile, char *outfile) {
int r;
greymap_t *gm;
potrace_bitmap_t *bm;
void *sm;
int x, y;
int count;
for (count=0; ; count++) {
r = gm_read(fin, &gm);
switch (r) {
case -1: /* system error */
fprintf(stderr, "mkbitmap: %s: %s\n", infile, strerror(errno));
exit(2);
case -2: /* corrupt file format */
fprintf(stderr, "mkbitmap: %s: file format error: %s\n", infile, gm_read_error);
exit(2);
case -3: /* empty file */
if (count>0) { /* end of file */
return;
}
fprintf(stderr, "mkbitmap: %s: empty file\n", infile);
exit(2);
case -4: /* wrong magic */
if (count>0) {
fprintf(stderr, "mkbitmap: %s: warning: junk at end of file\n", infile);
return;
}
fprintf(stderr, "mkbitmap: %s: file format not recognized\n", infile);
fprintf(stderr, "Possible input file formats are: pnm (pbm, pgm, ppm), bmp.\n");
exit(2);
case 1: /* unexpected end of file */
fprintf(stderr, "mkbitmap: %s: warning: premature end of file\n", infile);
break;
}
if (info.invert) {
for (y=0; y<gm->h; y++) {
for (x=0; x<gm->w; x++) {
GM_UPUT(gm, x, y, 255-GM_UGET(gm, x, y));
}
}
}
if (info.highpass) {
r = highpass(gm, info.lambda);
if (r) {
fprintf(stderr, "mkbitmap: %s: %s\n", infile, strerror(errno));
exit(2);
}
}
if (info.lowpass) {
lowpass(gm, info.lambda1);
}
if (info.scale == 1 && info.bilevel) { /* no interpolation necessary */
sm = threshold(gm, info.level);
gm_free(gm);
} else if (info.scale == 1) {
sm = gm;
} else if (info.linear) { /* linear interpolation */
sm = interpolate_linear(gm, info.scale, info.bilevel, info.level);
gm_free(gm);
} else { /* cubic interpolation */
sm = interpolate_cubic(gm, info.scale, info.bilevel, info.level);
gm_free(gm);
}
if (!sm) {
fprintf(stderr, "mkbitmap: %s: %s\n", infile, strerror(errno));
exit(2);
}
if (info.bilevel) {
bm = (potrace_bitmap_t *)sm;
bm_writepbm(fout, bm);
bm_free(bm);
} else {
gm = (greymap_t *)sm;
gm_writepgm(fout, gm, NULL, 1, GM_MODE_POSITIVE, 1.0);
gm_free(gm);
}
}
}
bool OutLame::apply_profile() {
if(enc_flags) lame_close(enc_flags);
enc_flags = lame_init();
lame_set_errorf(enc_flags,(void (*)(const char*, va_list))error);
lame_set_debugf(enc_flags,(void (*)(const char*, va_list))func);
lame_set_msgf(enc_flags,(void (*)(const char*, va_list))act);
lame_set_num_samples(enc_flags,OUT_CHUNK);
lame_set_num_channels(enc_flags,2); // the mixed input stream is stereo
lame_set_in_samplerate(enc_flags,SAMPLE_RATE); // the mixed input stream is 44khz
lame_set_error_protection(enc_flags,1); // 2 bytes per frame for a CRC checksum
lame_set_compression_ratio(enc_flags,0);
lame_set_quality(enc_flags,2); // 1..9 1=best 9=worst (suggested: 2, 5, 7)
// lame_set_VBR(enc_flags,vbr_abr);
/* BITRATE */
lame_set_brate(enc_flags,bps());
Shouter *ice = (Shouter*)icelist.begin();
while(ice) {
char tmp[256];
snprintf(tmp,256,"%u",bps()); ice->bps( tmp );
snprintf(tmp,256,"%u",freq()); ice->freq( tmp );
snprintf(tmp,256,"%u",channels()); ice->channels( tmp );
ice = (Shouter*)ice->next;
}
lame_set_out_samplerate(enc_flags,freq());
/* CHANNELS
mode 2 (double channel) is unsupported */
int mode;
switch( channels() ) {
/* 0,1,2,3 stereo,jstereo,dual channel,mono */
case 1: mode = 3; break;
case 2: mode = 1; break;
default: mode = 3; break;
}
lame_set_mode(enc_flags,(MPEG_mode_e)mode);
/* in case of VBR
func("reversed quality is %i, guessed bps %i",(int)fabs( 10 - quality()),bps());
lame_set_VBR_q(enc_flags,(int)fabs( 10 - quality() ));
lame_set_VBR_mean_bitrate_kbps(enc_flags,bps());
*/
/* lame chooses for us frequency filtering when values are 0 */
lame_set_lowpassfreq(enc_flags,lowpass());
lame_set_highpassfreq(enc_flags,highpass());
int res = lame_init_params(enc_flags);
if(res<0) {
error("lame_init_params failed");
lame_close(enc_flags);
enc_flags = NULL;
}
return (res<0)?false:true;
}
/************************************************************
Main Loop
************************************************************/
int main(void)
{
/* Confirm Power */
m_red(ON);
/* Initializations */
init();
usb_enable();
timer3_init();
int gy_previous_reading = 0;
/* Confirm successful initialization(s) */
m_green(ON);
/* Run */
while (1){
if (m_imu_raw(data))
{
m_green(ON);
m_red(OFF);
ax = lowpass(0.85,ax,data[0])+AX_OFFSET;
az = lowpass(0.85,az,data[2])+AZ_OFFSET;
gy = lowpass(ALPHA_LOW,gy,data[4])+GY_OFFSET;
gy = highpass(ALPHA_HIGH,gy,gy_previous_reading,data[4]);
gy_previous_reading = data[4];
/*
m_usb_tx_string("ax= ");
m_usb_tx_int(ax);
m_usb_tx_string(" az=");
m_usb_tx_int(az);
m_usb_tx_string(" gy=");
m_usb_tx_long(gy);
m_usb_tx_string("\n");
*/
int angle = ((float)ax*RAD2DEG)/sqrt(((float)ax*ax+(float)az*az));
if (check(TIFR3,OCF3A)){ //check if timestep has completed
angle += gy*TIMESTEP; //add thetadot*timestep to angle
set(TIFR3,OCF3A); //reset flag
}
m_usb_tx_int(angle);
m_usb_tx_string("\n");
/*
m_usb_tx_string("ax= ");
m_usb_tx_int(data[0]);
m_usb_tx_string(" ay= ");
m_usb_tx_int(data[1]);
m_usb_tx_string(" az= ");
m_usb_tx_int(data[2]);
m_usb_tx_string(" gx= ");
m_usb_tx_int(data[3]);
m_usb_tx_string(" gy= ");
m_usb_tx_int(data[4]);
m_usb_tx_string(" gz= ");
m_usb_tx_int(data[5]);
m_usb_tx_string("\n");
*/
}
else
{
m_green(OFF);
m_red(ON);
}
}
}
