int main(int argc, char *argv[]){
if(argc != 3){
usage(argv[0], stderr);
exit(1);
}
FILE *inputFile = fopen(argv[1], "r");
if(NULL == inputFile){
fprintf(stderr, "File %s not exist.\n", argv[1]);
exit(1);
}
FILE *outputFile = fopen(argv[2], "w");
List *list = makeList(inputFile);
removeInvalidData(list);
lowPassFilter(list);
setStatus(list);
outputResult(list, outputFile);
fclose(inputFile);
fclose(outputFile);
freeList(list);
return 0;
}
void bandpassFilter(vector<double> & in, double sampFreq,int order = 1, double lCutoff=.1,double hCutoff=25){
while(order){
highPassFilter(in,sampFreq,lCutoff);
lowPassFilter(in,sampFreq,hCutoff);
order--;
}
}
void performLowPass(const cv::Mat& image, cv::Mat& res, int rad) {
cv::Mat grey, tmp;
cv::cvtColor(image, grey, CV_BGR2GRAY);
grey.convertTo(grey, CV_32F);
grey.copyTo(res);
res.convertTo(res, CV_8U);
std::vector<cv::Mat> planes(2, cv::Mat());
std::vector<cv::Mat> polar(2, cv::Mat());
cv::dft(grey, tmp, cv::DFT_COMPLEX_OUTPUT);
cv::split(tmp, planes);
cv::cartToPolar(planes[0], planes[1], polar[0], polar[1]);
visualization(polar[0], tmp);
concatImages(res, tmp, res);
rearrangeQuadrants(polar[0]);
lowPassFilter(polar[0], rad);
rearrangeQuadrants(polar[0]);
visualization(polar[0], tmp);
tmp.convertTo(tmp, res.type());
concatImages(res, tmp, res);
cv::polarToCart(polar[0], polar[1], planes[0], planes[1]);
cv::merge(planes, tmp);
cv::dft(tmp, tmp, cv::DFT_SCALE | cv::DFT_INVERSE | cv::DFT_REAL_OUTPUT);
tmp.convertTo(tmp, CV_8U);
concatImages(res, tmp, res);
}
void twistCallback(const geometry_msgs::Twist& twist){
double x = twist.linear.x;
double y = twist.linear.y;
double z = twist.angular.z;
x_ = lowPassFilter(x, x_, dt, T);
y_ = lowPassFilter(y, y_, dt, T);
z_ = lowPassFilter(z, z_, dt, T);
geometry_msgs::Twist t;
t.linear.x = x_;
t.linear.y = y_;
t.angular.z = z_;
twistPublisher.publish(t);
}
//-----------------------------------------------------------------------------
// Name: paCallback( )
// Desc: Callback from PortAudio
//-----------------------------------------------------------------------------
static int paCallback( const void *inputBuffer,
void *outputBuffer, unsigned long framesPerBuffer,
const PaStreamCallbackTimeInfo* timeInfo,
PaStreamCallbackFlags statusFlags, void *userData )
{
/* Cast Appropriate Types and Define Some Useful Variables */
(void) inputBuffer;
float* out = (float*)outputBuffer;
paData *data = (paData*)userData;
int i, numberOfFrames, numInFrames;
/* This if Statement Ensures Smooth VariSpeed Output */
if (fmod((double)framesPerBuffer, data->src_data.src_ratio) == 0)
{
numInFrames = framesPerBuffer;
}
else
numInFrames = (framesPerBuffer/data->src_data.src_ratio) + 2;
/* Read FramesPerBuffer Amount of Data from inFile into buffer[] */
numberOfFrames = sf_readf_float(data->inFile, data->src_inBuffer, numInFrames);
/* Looping of inFile if EOF is Reached */
if (numberOfFrames < framesPerBuffer/data->src_data.src_ratio)
{
sf_seek(data->inFile, 0, SEEK_SET);
}
/* Inform SRC Data How Many Input Frames To Process */
data->src_data.input_frames = numberOfFrames;
data->src_data.end_of_input = 0;
/* Perform SRC Modulation, Processed Samples are in src_outBuffer[] */
if ((data->src_error = src_process (data->src_state, &data->src_data))) {
printf ("\nError : %s\n\n", src_strerror (data->src_error)) ;
exit (1);
}
/* Perform Lowpass Filtering */
if (data->lpf_On == true) {
lowPassFilter(data->src_outBuffer, data->sfinfo1.channels);
}
/* Perform Highpass Filtering */
if (data->hpf_On == true) {
highPassFilter(data->src_outBuffer, data->sfinfo1.channels);
}
/* Prevent Blowing Out the Speakers Hopefully */
brickwall(data->src_outBuffer, data->sfinfo1.channels);
// printf("%ld, %ld\n",data->src_data.output_frames_gen, data->src_data.input_frames_used);
/* Write Processed SRC Data to Audio Out and Visual Out */
for (i = 0; i < framesPerBuffer * data->sfinfo1.channels; i++)
{
out[i] = data->src_outBuffer[i] * data->amplitude;
}
g_ready = true;
return 0;
}
