/**
* main - echo back to the user whatever they type
*/
int usci_main(void) {
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
BCSCTL1 = CALBC1_16MHZ; // set DCO clock for MCLK and SMCLK
DCOCTL = CALDCO_16MHZ;
usci0.init();
__bis_SR_register(GIE); // interrupts enabled
usci0.xmit("\r\nMSP430G2553 Monitor\r\n$ ");
while (true) {
while (!usci0.empty()) {
volatile int c;
c = usci0.recv();
usci0.xmit((uint8_t) c);
}
}
return 0;
}
int main(int argc, char * argv[])
{
VideoCapture capture;
if(argc>1)
{
capture.open(argv[1][0]-'0');
}
else
{
capture.open(0);
}
FileStorage fs;
fs.open("parameters.yml", FileStorage::READ);
if(!capture.isOpened())
{
cout<<"Cam Invalid"<<endl;
return -1;
}
//serial initialize
#ifdef SERIAL_PORT
Serial serial;
unsigned char sendBuff[10];
if(serial.init()!=-1)
{
cout<<"serial init success"<<endl;
}
else
{
cout<<"serial init failed,please check the interface"<<endl;
return -1;
}
#endif
//set capture size
capture.set(CV_CAP_PROP_FRAME_WIDTH,340);
capture.set(CV_CAP_PROP_FRAME_HEIGHT,240);
namedWindow("Intelisu",CV_WINDOW_NORMAL);//CV_WINDOW_AUTOSIZE
setMouseCallback( "Intelisu", mouseHandler, NULL );
TLD tld;
tld.read(fs.getFirstTopLevelNode());
Mat frame;
Mat last_gray;
Mat first;
capture>>frame;//test image acquirement;
cout<<frame.size()<<endl;
//aquire the object patch
// while(!gotBB)
// {
// if (!fromfile){
// capture >> frame;
// }
// else
// first.copyTo(frame);
// cvtColor(frame, last_gray, CV_RGB2GRAY);
// drawBox(frame,box);
// putText(frame,"Wating for the object...",Point(20,20),FONT_HERSHEY_SIMPLEX,0.6,10,2);
// //Mat scaleImage;
// //resize(frame,scaleImage,Size(2*round(frame.cols),2*round(frame.rows)));
// imshow("Intelisu", frame);
// if (cvWaitKey(33) == 'q')
// return 0;
// }
//motion track
myupdate_mhi myupdate1;
Rect result;
Mat motion=Mat::zeros(frame.rows,frame.cols, CV_8UC1);
for(;;)
{
capture>>frame;
IplImage pframe(frame);
IplImage pmotion(motion);
myupdate1.init( &pframe, &pmotion, 60 );
if(myupdate1.update_mhi(result)==0)
{
cout<<"x:"<<result.x+result.width/2<<" "<<"y:"<<result.y+result.height/2<<endl;
rectangle(frame,result, Scalar(255,0,0));
break;
}
//resize(frame,frame,Size(3*round(frame.cols),3*round(frame.rows)));
static unsigned char safeCount=0;
putText(frame,"Environment Safe",Point(20,20),FONT_HERSHEY_SIMPLEX,0.7,CV_RGB(0,safeCount,0),2);
safeCount+=16;
imshow("Intelisu",frame);
waitKey(10);
}
cvtColor(frame, last_gray, CV_RGB2GRAY);
//waitKey(-1);
//Remove callback
cvSetMouseCallback( "Intelisu", NULL, NULL );
//open the output file
FILE *bb_file = fopen("bounding_boxes.txt","w");
//TLD initialization
//tld.init(last_gray,box,bb_file);
tld.init(last_gray,result,bb_file);
//runtime variable
Mat current_gray;
BoundingBox pbox;
vector<Point2f> pts1;
vector<Point2f> pts2;
bool status=true;
int frames = 1;
int detections = 1;
while(capture.read(frame)){
//<<<<<<<<<<<<<<
double timeMs=0;
timeMs=getTickCount();
//get frame
cvtColor(frame, current_gray, CV_RGB2GRAY);
//Process Frame
tld.processFrame(last_gray,current_gray,pts1,pts2,pbox,status,tl,bb_file);
//Draw Points
if (status){
drawPoints(frame,pts1);
drawPoints(frame,pts2,Scalar(0,255,0));
drawBox(frame,pbox);
detections++;
//drawWarning
static unsigned char count=0;
Rect symbol(Point(0,0),Size(frame.cols,frame.rows));
rectangle(frame,symbol.tl(),symbol.br(),Scalar(0,0,count),15);
putText(frame,"WARNING",Point(90,120),FONT_HERSHEY_SIMPLEX,1.2,CV_RGB(count,0,0),2);
count+=16;
//attach coordinate
ostringstream printText;
Rect detdObj;
detdObj.x=(pbox.x+pbox.width/2)/2;
detdObj.y=(pbox.y+pbox.height/2)/2;
printText<<"X:"<<detdObj.x<<" "<<"Y:"<<detdObj.y<<" "<<"Area:"<<pbox.width*pbox.height;
putText(frame,printText.str(),Point(20,40),FONT_HERSHEY_SIMPLEX,0.7,CV_RGB(100,255,0),2);
//send data through serial port
#ifdef SERIAL_PORT
static int sendRate=0;
if((sendRate++)%8==0)
{
sendBuff[0]=0xff;
sendBuff[1]=detdObj.x;
sendBuff[2]=detdObj.y;
sendBuff[3]=0xfe;
serial.send_data_tty(sendBuff,4);
}
#endif
//
}
else
{
//drawSafe
static unsigned char safeCount=0;
putText(frame,"Environment Safe",Point(20,20),FONT_HERSHEY_SIMPLEX,0.7,CV_RGB(0,safeCount,0),2);
safeCount+=16;
}
//Display
//<<<<<<<<<<<<<<
//double timeMs=0;
//timeMs=getTickCount();
//resize(frame,frame,Size(3*round(frame.cols),3*round(frame.rows)));
//timeMs=(getTickCount()-timeMs)/getTickFrequency();
//cout<<"<<<<<<<<<< "<<"Time: "<<timeMs*1000<<" >>>>>>>>>>"<<endl;
//>>>>>>>>>>>>>>
imshow("Intelisu", frame);
//Super Display
// Mat scaleImage;
// resize(frame,scaleImage,Size(2*round(frame.cols),2*round(frame.rows)));
// ostringstream printText;
// printText<<"X:"<<pbox.x+pbox.width/2<<" "<<"Y:"<<pbox.y+pbox.height/2;
// putText(scaleImage,printText.str(),Point(40,40),FONT_HERSHEY_SIMPLEX,1,CV_RGB(100,255,0),2);
// imshow("Intelisu", scaleImage);
//swap points and images
swap(last_gray,current_gray);
//clean the track
pts1.clear();//clean the
pts2.clear();
frames++;
//printf("Detection rate: %d/%d\n",detections,frames);
if ((char)waitKey(1) == 'q')
break;
timeMs=(getTickCount()-timeMs)/getTickFrequency();
cout<<"<<<<<<<<<< "<<"Time: "<<timeMs*1000<<" >>>>>>>>>>"<<endl;
}
fclose(bb_file);
return 0;
}
int main()
{
//Stel onderstaande poorten in op Output en laad allemaal enen in
DDRA=0xFF;
DDRB=0xFF;
DDRC=0xFF;
PORTA=0xFF;
PORTB=0xFF;
PORTC=0xFF;
//Stel de timer in die een interrupt genereert bij en overflow
TCCR0=0x05;
TIMSK=0x01;
//Stel odnerstaande poorten in op Input en laad allemaal enen in
DDRE=0x00;
PINE=0xFF;
serial.init();
// Aanmaken van de verschillende autolichtobjecten
AutoLicht azl(0xFE, 0xFD, 0xFB, ADRESPORTB);
AutoLicht azr(0xF7, 0xEF, 0xDF, ADRESPORTB);
AutoLicht ahl(0xFE, 0xFD, 0xFB, ADRESPORTC);
AutoLicht ahr(0xF7, 0xEF, 0xDF, ADRESPORTC);
// Aanmaken van de verschillende voetgangerlichtobjecten
VoetgangerLicht vhr(0xFE, 0xFD, ADRESPORTA);
VoetgangerLicht vz(0xBF, 0x7F, ADRESPORTB);
VoetgangerLicht vhl(0xBF, 0x7F, ADRESPORTC);
List<VoetgangerLicht*> l1, l2, l3;
List<Scenario*> s;
//Lijst l1 vullen
l1.push_back(&azl);
l1.push_back(&azr);
//Lijst l2 vullen
l2.push_back(&ahl);
l2.push_back(&ahr);
//Lijst l3 vullen
l3.push_back(&vhr);
l3.push_back(&vz);
l3.push_back(&vhl);
//Scenario's definieren
Scenario s1(&l1, &variabelebeheerder);
Scenario s2(&l2, &variabelebeheerder);
Scenario s3(&l3, &variabelebeheerder);
s.push_back(&s1);
s.push_back(&s2);
s.push_back(&s3);
variabelebeheerder.zetAantalScenarios(3);
//Scenario's toekennen aan sensoren
svz.kenScenarioToe(&s3);
svhr.kenScenarioToe(&s3);
svhl.kenScenarioToe(&s3);
sahr.kenScenarioToe(&s2);
sahl.kenScenarioToe(&s2);
sazl.kenScenarioToe(&s1);
sazr.kenScenarioToe(&s1);
VerkeersRegelaar vr(&s, &wachtrijbeheerder, &variabelebeheerder);
sei(); //Zet interrupts aan
while(1) {
vr.kiesFunctie();
}
}