// 색1 색2 색1 색2 색1 색2
void Take_Copter(Mat Cam, Mat Cam2, Copter& cop)
{
pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
Mat YUV_PIC3;
Mat Pic2_col1(cop.Picture3.rows,cop.Picture3.cols,CV_8UC1);
Mat Pic2_col2(cop.Picture3.rows,cop.Picture3.cols,CV_8UC1);
Mat temp3(cop.Picture3.rows,cop.Picture3.cols,CV_8UC1);
Mat temp4(cop.Picture3.rows,cop.Picture3.cols,CV_8UC1);
Mat temp5(cop.Picture3.rows,cop.Picture3.cols,CV_8UC1);
Mat temp6(cop.Picture3.rows,cop.Picture3.cols,CV_8UC1);
cvtColor(cop.Picture3,YUV_PIC3,CV_RGB2YCrCb);
vector<Mat> yuv;
Mat Corr_1_1;//색1
Mat Corr_1_2;//색1
Mat Corr_2_1;//색2
Mat Corr_2_2;//색2
int corr_size_X =0;
int corr_size_Y =0;
Mat Result;
double min,max;
Point Copter_point;
for(int i=0; i<V_BUFFER_SIZE; i++)
{
cop.prev_cx[i] = -5000;
cop.prev_cy[i] = -5000;
}
if(cop.find_mode == true){
cop.find_mode = false;
matchTemplate(Cam,cop.Pic_Binary1,Corr_1_1,CV_TM_CCOEFF_NORMED);
matchTemplate(Cam2,cop.Pic_Binary2,Corr_1_2,CV_TM_CCOEFF_NORMED);
if(Corr_1_1.rows<Corr_1_2.rows)
{
corr_size_Y = Corr_1_1.rows;
}
else
{
corr_size_Y = Corr_1_2.rows;
}
if(Corr_1_1.cols<Corr_1_2.cols)
{
corr_size_X = Corr_1_1.cols;
}
else
{
corr_size_X = Corr_1_2.cols;
}
resize(Corr_1_1,Corr_1_1,Size(corr_size_X,corr_size_Y),0,0,INTER_CUBIC);
resize(Corr_1_2,Corr_1_2,Size(corr_size_X,corr_size_Y),0,0,INTER_CUBIC);
Result = (0.6*Corr_1_1)+(0.6*Corr_1_2);
}
else
{
cop.find_mode = true;
split(YUV_PIC3,yuv);
threshold(yuv[0],yuv[0],cop.Y_MAX,255,THRESH_TOZERO_INV);
threshold(yuv[0],Pic2_col1,cop.Y_MIN,255,THRESH_BINARY);
threshold(yuv[1],yuv[1],cop.Cb_MAX,255,THRESH_TOZERO_INV);
threshold(yuv[1],temp3,cop.Cb_MIN,255,THRESH_BINARY);
threshold(yuv[2],yuv[2],cop.Cr_MAX,255,THRESH_TOZERO_INV);
threshold(yuv[2],temp4,cop.Cr_MIN,255,THRESH_BINARY);
bitwise_and(Pic2_col1,temp3,temp3);
bitwise_and(temp3,temp4,Pic2_col1);
split(YUV_PIC3,yuv);
threshold(yuv[0],yuv[0],cop.Y_MAX2,255,THRESH_TOZERO_INV);
threshold(yuv[0],Pic2_col2,cop.Y_MIN2,255,THRESH_BINARY);
threshold(yuv[1],yuv[1],cop.Cb_MAX2,255,THRESH_TOZERO_INV);
threshold(yuv[1],temp5,cop.Cb_MIN2,255,THRESH_BINARY);
threshold(yuv[2],yuv[2],cop.Cr_MAX2,255,THRESH_TOZERO_INV);
threshold(yuv[2],temp6,cop.Cr_MIN2,255,THRESH_BINARY);
bitwise_and(Pic2_col2,temp5,temp5);
bitwise_and(temp5,temp6,Pic2_col2);
matchTemplate(Cam,Pic2_col1,Corr_2_1,CV_TM_CCOEFF_NORMED);
matchTemplate(Cam2,Pic2_col2,Corr_2_2,CV_TM_CCOEFF_NORMED);
if(Corr_2_1.rows<Corr_2_2.rows)
{
corr_size_Y = Corr_2_1.rows;
}
else
{
corr_size_Y = Corr_2_2.rows;
}
if(Corr_2_1.cols<Corr_2_2.cols)
{
corr_size_X = Corr_2_1.cols;
}
else
{
corr_size_X = Corr_2_2.cols;
}
resize(Corr_2_1,Corr_2_1,Size(corr_size_X,corr_size_Y),0,0,INTER_CUBIC);
resize(Corr_2_2,Corr_2_2,Size(corr_size_X,corr_size_Y),0,0,INTER_CUBIC);
Result = (0.6*Corr_2_1)+(0.6*Corr_2_2);
}
// imshow("3",Pic2_col2);
// imshow("2",Pic2_col1);
// imshow("1",Result);
minMaxLoc(Result,&min,&max,NULL,&Copter_point);
cop.width = 3*(cop.Pic_Binary2.cols);
cop.height =3*(cop.Pic_Binary2.rows);
cop.x = Copter_point.x-(cop.width/3);
cop.y = Copter_point.y-(cop.height/3);
Reposition_minus(cop);
pthread_mutex_lock(&mutex);// =========*
resize(cop.Copter_Layer,cop.Copter_Layer,Size(cop.width,cop.height),0,0,INTER_NEAREST);
if(cop.number == 1)
cop.Copter_Layer = Cam_Image(Rect(cop.x , cop.y , cop.width , cop.height ) );
else if(cop.number == 2)
cop.Copter_Layer = Cam_Image(Rect(cop.x,cop.y,cop.width,cop.height));
pthread_mutex_unlock(&mutex);// ==========*
}
//write relation
TEST(ParserAttList, ParAttList)
{
//CREATE TABLE species (kind VARCHAR(10)) PRIMARY KEY (kind);
Token temp(Token::KEYWORD);
temp.content = "CREATE";
tokens.push_back(temp);
Token temp1(Token::KEYWORD);
temp.content = "TABLE";
tokens.push_back(temp1);
Token temp2(Token::VARIABLE);
temp.content = "species";
tokens.push_back(temp2);
Token temp3(Token::OPENPAREN);
temp.content = "(";
tokens.push_back(temp3);
Token temp4(Token::VARIABLE);
temp.content = "kind";
tokens.push_back(temp4);
Token temp5(Token::KEYWORD);
temp.content = "VARCHAR";
tokens.push_back(temp5);
Token temp6(Token::OPENPAREN);
temp.content = "(";
tokens.push_back(temp6);
Token temp7(Token::LITERAL);
temp.content = "10";
tokens.push_back(temp7);
Token temp8(Token::CLOSEPAREN);
temp.content = ")";
tokens.push_back(temp8);
Token temp9(Token::CLOSEPAREN);
temp.content = ")";
tokens.push_back(temp9);
Token temp10(Token::KEYWORD);
temp.content = "PRIMARY";
tokens.push_back(temp10);
Token temp11(Token::KEYWORD);
temp.content = "KEY";
tokens.push_back(temp11);
Token temp12(Token::OPENPAREN);
temp.content = "(";
tokens.push_back(temp12);
Token temp13(Token::VARIABLE);
temp.content = "kind";
tokens.push_back(temp13);
Token temp14(Token::CLOSEPAREN);
temp.content = ")";
tokens.push_back(temp14);
pars.command(tokens);
}
void Board::Initialise()
{
float zbase = 400; // Variable to store how deep in the z axis the object is based.
Vector4 temp1(-600, 800, 1200 + zbase, 1);
Vector4 temp2(600, 800, 1200 + zbase, 1);
Vector4 temp3(600, 800, 0 + zbase, 1);
Vector4 temp4(-600,800,0 + zbase,1);
top.Initialise(temp1, temp2, temp3, temp4); // Set individual vertex locations for the top face of the board
Vector4 col1(70,50,4,1);
Vector4 col2(92,67,5,1);
Vector4 col3(102,75,6,1);
Vector4 col4(119,77,0,1);
Vector4 col5(69, 25, 18, 1);
top.SetColours(col1, col2, col2, col3); // Set individual colour values of each of those vertices
Vector4 temp5(-600, 800, 0 + zbase, 1);
Vector4 temp6(600, 800, 0 + zbase, 1);
Vector4 temp7(600, 1000, 0 + zbase, 1);
Vector4 temp8(-600,1000, 0 + zbase,1); // Individual vertices for the front face
Vector4 temp9(-800, 1000, 1200 + zbase + 300, 1);
Vector4 temp10(800, 1000, 1200 + zbase + 300, 1);
Vector4 temp11(800, 1000, 100, 1);
Vector4 temp12(-800, 1000, 100,1); // Individual vertices for the base face
table.Initialise(temp9, temp10, temp11, temp12);
table.SetColours(col5, col5, col5, col5); // Set to one mat colour, no shading.
Vector4 temp13(-600, 800, 1200 + zbase, 1);
Vector4 temp14(-600, 800, 0 + zbase, 1);
Vector4 temp15(-600, 1000, 0 + zbase, 1);
Vector4 temp16(-600, 1000, 1200 + zbase, 1); // Set individual vertices for the left face
Vector4 temp17(600, 800, 0 + zbase, 1);
Vector4 temp18(600, 800, 1200 + zbase, 1);
Vector4 temp19(600, 1000, 1200 + zbase, 1);
Vector4 temp20(600, 1000, 0 + zbase, 1); // Set individual vertices for the right face
sides[0].Initialise(temp5, temp6, temp7, temp8);
sides[1].Initialise(temp13, temp14, temp15, temp16);
sides[2].Initialise(temp17, temp18, temp19, temp20);
sides[3].Initialise(temp2, temp1, temp16, temp19); // Use known vertices to initialise the side faces
sides[0].SetColours(col3, col4, col4, col2);
sides[1].SetColours(col1, col2, col2, col1);
sides[2].SetColours(col2, col1, col1, col2);
sides[3].SetColours(col4, col4, col4, col4); // Then set the colours
float positionLocations[24][2] = {{-450, 1050 + zbase}, //1 An array holding the centre locations
{-300, 900 + zbase}, //2 of each of the positions where pieces
{-150, 750 + zbase}, //3 can be placed.
{ 0 , 750 + zbase}, //4
{ 150, 750 + zbase}, //5
{ 300, 900 + zbase}, //6
{ 450, 1050 + zbase}, //7
{ 0 , 900 + zbase}, //8
{ 0 , 1050 + zbase}, //9
{-450, 600 + zbase}, //10
{-300, 600 + zbase}, //11
{-150, 600 + zbase}, //12
{-450, 150 + zbase}, //13
{-300, 300 + zbase}, //14
{-150, 450 + zbase}, //15
{ 0 , 150 + zbase}, //16
{ 0 , 300 + zbase}, //17
{ 0 , 450 + zbase}, //18
{ 450, 150 + zbase}, //19
{ 300, 300 + zbase}, //20
{ 150, 450 + zbase}, //21
{ 450, 600 + zbase}, //22
{ 300, 600 + zbase}, //23
{ 150, 600 + zbase}}; //24
for (int i = 0; i < 24; i++) {
boardpositions[i].Initialise(positionLocations[i][0], positionLocations[i][1]); // Create the individual graphical representations
} // (class Position) and put in array for easy drawing.
InitialiseLines(); // Ugly function to draw each and every line on the
// board with individual hand-placed vertices.
SetupMills(); // Set up the mills (groups of three) with pointers to the positions
// as alternate referencing option
}
CFX_PtrArray* CBC_ReedSolomonDecoder::RunEuclideanAlgorithm(
CBC_ReedSolomonGF256Poly* a,
CBC_ReedSolomonGF256Poly* b,
int32_t R,
int32_t& e) {
if (a->GetDegree() < b->GetDegree()) {
CBC_ReedSolomonGF256Poly* temp = a;
a = b;
b = temp;
}
CBC_ReedSolomonGF256Poly* rsg1 = a->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> rLast(rsg1);
CBC_ReedSolomonGF256Poly* rsg2 = b->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> r(rsg2);
CBC_ReedSolomonGF256Poly* rsg3 = m_field->GetOne()->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> sLast(rsg3);
CBC_ReedSolomonGF256Poly* rsg4 = m_field->GetZero()->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> s(rsg4);
CBC_ReedSolomonGF256Poly* rsg5 = m_field->GetZero()->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> tLast(rsg5);
CBC_ReedSolomonGF256Poly* rsg6 = m_field->GetOne()->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> t(rsg6);
while (r->GetDegree() >= R / 2) {
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> rLastLast = rLast;
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> sLastLast = sLast;
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> tLastlast = tLast;
rLast = r;
sLast = s;
tLast = t;
if (rLast->IsZero()) {
e = BCExceptionR_I_1IsZero;
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
}
CBC_ReedSolomonGF256Poly* rsg7 = rLastLast->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> rTemp(rsg7);
r = rTemp;
CBC_ReedSolomonGF256Poly* rsg8 = m_field->GetZero()->Clone(e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> q(rsg8);
int32_t denominatorLeadingTerm = rLast->GetCoefficients(rLast->GetDegree());
int32_t dltInverse = m_field->Inverse(denominatorLeadingTerm, e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
while (r->GetDegree() >= rLast->GetDegree() && !(r->IsZero())) {
int32_t degreeDiff = r->GetDegree() - rLast->GetDegree();
int32_t scale =
m_field->Multiply(r->GetCoefficients(r->GetDegree()), dltInverse);
CBC_ReedSolomonGF256Poly* rsgp1 =
m_field->BuildMonomial(degreeDiff, scale, e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> build(rsgp1);
CBC_ReedSolomonGF256Poly* rsgp2 = q->AddOrSubtract(build.get(), e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> temp(rsgp2);
q = temp;
CBC_ReedSolomonGF256Poly* rsgp3 =
rLast->MultiplyByMonomial(degreeDiff, scale, e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> multiply(rsgp3);
CBC_ReedSolomonGF256Poly* rsgp4 = r->AddOrSubtract(multiply.get(), e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> temp3(rsgp4);
r = temp3;
}
CBC_ReedSolomonGF256Poly* rsg9 = q->Multiply(sLast.get(), e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> temp1(rsg9);
CBC_ReedSolomonGF256Poly* rsg10 = temp1->AddOrSubtract(sLastLast.get(), e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> temp2(rsg10);
s = temp2;
CBC_ReedSolomonGF256Poly* rsg11 = q->Multiply(tLast.get(), e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> temp5(rsg11);
CBC_ReedSolomonGF256Poly* rsg12 = temp5->AddOrSubtract(tLastlast.get(), e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> temp6(rsg12);
t = temp6;
}
int32_t sigmaTildeAtZero = t->GetCoefficients(0);
if (sigmaTildeAtZero == 0) {
e = BCExceptionIsZero;
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
}
int32_t inverse = m_field->Inverse(sigmaTildeAtZero, e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_ReedSolomonGF256Poly* rsg13 = t->Multiply(inverse, e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> sigma(rsg13);
CBC_ReedSolomonGF256Poly* rsg14 = r->Multiply(inverse, e);
BC_EXCEPTION_CHECK_ReturnValue(e, NULL);
CBC_AutoPtr<CBC_ReedSolomonGF256Poly> omega(rsg14);
CFX_PtrArray* temp = new CFX_PtrArray;
temp->Add(sigma.release());
temp->Add(omega.release());
return temp;
}
