static void readLabels(struct customPp *cpp, int dataStart, Chopper chopper,
char **row, int colCount, struct labeledFile *fileList)
/* Read in first nonempty line of file and fill in labels from it. */
{
char *line;
int colsRead;
int i;
struct labeledFile *fileEl;
if ((line = customFactoryNextRealTilTrack(cpp)) == NULL)
errAbort("%s is empty", cpp->fileStack ? cpp->fileStack->fileName : "input");
colsRead = chopper(line, row, colCount);
if (colCount != colsRead)
{
if (cpp->fileStack)
errAbort("Expecting %d words line %d of %s got %d",
colCount, cpp->fileStack->lineIx, cpp->fileStack->fileName, colsRead);
else
errAbort("Expecting %d words got %d",
colCount, colsRead);
}
for (i=dataStart, fileEl = fileList; i < colCount; i++, fileEl = fileEl->next)
{
char *label = row[i];
if (!allWhite(label))
fileEl->label = cloneString(row[i]);
}
}
bool theLineIsLost( ){
if(allWhite( )){
return true;
}else{
// if(allBlack( )){
// return true;
// }else{
return false;
// }
}
}
void calibrate(uint32_t val){
uint32_t nrOfCalibrations = 16;
float percent = whitePercent;
whitePercent = 0.3;
if(allWhite( )){
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MIN[i]=0;
}
for(uint32_t i = 0; i < nrOfCalibrations; i++){
readAdc( );
for(uint32_t j = 0; j < nrOfSensors; j++){
ADC_MIN[j] += ADC_avgBuff[j];
}
}
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MIN[i]=ADC_MIN[i]/nrOfCalibrations;
ADC_DIF[i] = ADC_MAX[i] - ADC_MIN[i];
}
}else{
GPIO_ToggleBits(GPIOD, GPIO_Pin_14);
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MAX[i]=0;
}
for(uint32_t i = 0; i < nrOfCalibrations; i++){
readAdc( );
for(uint32_t j = 0; j < nrOfSensors; j++){
ADC_MAX[j] += ADC_avgBuff[j];
}
}
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MAX[i]=ADC_MAX[i]/nrOfCalibrations;
ADC_DIF[i] = ADC_MAX[i] - ADC_MIN[i];
}
}
whitePercent = percent;
}
// Fills obstacleGrid (one-dim array of size COL_SIZE * ROW_SIZE) with bools
// trues in the sea of falses. true means there's an obstacle.
void ImageProcessor::mapObstacles( Mat & image, bool * obstacleGrid )
{
Mat square;
Mat img = image;
for( int rowid = 0; rowid < COL_SIZE; rowid++ )
{
for( int colid = 0; colid < ROW_SIZE; colid++ )
{
// the little square from the image that defines 1 "space" or cell of the big image
square = img(Rect(colid*PIXELS_PER_SQUARE, rowid*PIXELS_PER_SQUARE, PIXELS_PER_SQUARE, PIXELS_PER_SQUARE));
// set false if no obstacles there (all white).
// so if anything in the little square is black, there's the edge of an obstacle.
obstacleGrid[rowid*ROW_SIZE + colid] = !allWhite(square);
}
}
}
