//Cambio***************
static int filtro_gestos_buscar_limites(lua_State *L)
{
dato_t *in = (filtro_gestos_in_imagen_t *)lua_touserdata(L, 1);
int op = luaL_checkint(L, 2);
special_colour_t *sc = (special_colour_t *)lua_touserdata(L, 3);
bounds_t* out = (bounds_t*)malloc(sizeof(bounds_t));
coord_t c1= Corner1(in,sc);
coord_t c2= Corner2(in,sc);
coord_t c3= Corner3(in,sc);
coord_t c4= Corner4(in,sc);
int b, a, d, c;
double divis,divis2;
double angulo, angulo2;
int grados1, grados2;
if(op){
Identify(in,out,c1);
Identify(in,out,c2);
Identify(in,out,c3);
Identify(in,out,c4);
}
else Identify2(out,c1,c2,c3,c4);
//Cambio********************************+
b= out->ii.y-out->id.y;
a= out->id.x-out->ii.x;
d= out->ii.y-out->si.y;
c= out->ii.x-out->si.x;
// Tenías esto, el compilador da un warning
// se suele usar sólo para asignaciones como te lo he puesto
// Carlos
// (a==0)?divis=0:divis=(double)b/a;
//(c==0)?divis2=0:divis2=(double)d/c;
// hasta aquí
divis = (a == 0) ? 0 : (double)b / a;
divis2 = (c == 0) ? 0 : (double)d / c;
// esto de antes es lo nuevo, así no se queja
angulo= atan(divis);
angulo2= atan(divis2);
out->grados= (angulo*180)/M_PI;
grados1= abs(out->grados);
grados2= abs((angulo2*180)/M_PI);
/*lua_pushlightuserdata(L, grados1+grados2>80 && grados1+grados2<100 ?
out : 0);*/
lua_pushlightuserdata(L, out);
///*if((*/grados1+grados2>80 && grados1+grados2<100;/*) || !op)*/
return 1;
// else return 0;
}
///////////////////////////////////////////////////////////////////////
/// \brief Measure the line in pixels
/////////////////////////////////////////////////////////////////////////
void vfn_calibrateLine(void)
{
//Create the pattern.
// vfn_binarize();
//
// //Is a black line?
// if( pat_info.value == BLACK_LINE && pat_info.valid == 3 )
// {
// ub_Left_Corner = pat_info.width[0];
// ub_Right_Corner = pat_info.width[1] - 1;
//
// sb_BLACK_STRIP_WIDTH_MEASU = ub_Black_Strip_Width = pat_info.width[1] - pat_info.width[0];
// ub_Black_Strip_Center = ub_Black_Strip_Width / 2 + pat_info.width[0];
// }
CalculateCentralDifferentials(NUM_PIXELS);
CalculateCentralDifferentials2(NUM_PIXELS);
switch (Identify(NUM_PIXELS)) {
case 1:
sb_BLACK_STRIP_WIDTH_MEASU = ub_Black_Strip_Width = lineWidth;
ub_Line_Average[0] = ub_Black_Strip_Center = lineCenter;
//TERMINAL_PRINTF( "%d\r\n",1 );
break;
default:
break;
}
switch (Identify2(NUM_PIXELS)) {
case 1:
sb_BLACK_STRIP_WIDTH_MEASU2 = ub_Black_Strip_Width2 = lineWidth2;
ub_Line_Average2[0] = ub_Black_Strip_Center2 = lineCenter2;
//TERMINAL_PRINTF( "%d\r\n",1 );
break;
default:
break;
}
}
//Cambio********************
static int filtro_gestos_on_border(lua_State *L)
{
dato_t *in = (filtro_gestos_in_imagen_t *)lua_touserdata(L, 1);
special_colour_t *sc = (special_colour_t *)lua_touserdata(L, 2);
//bounds_t* out = (bounds_t*)malloc(sizeof(bounds_t));
bounds_t out;
coord_t c1= Corner1(in,sc);
coord_t c2= Corner2(in,sc);
coord_t c3= Corner3(in,sc);
coord_t c4= Corner4(in,sc);
Identify2(&out,c1,c2,c3,c4);
if(out.ii.y>in->m_alto-BORDER || out.si.y<BORDER ||
out.ii.x<BORDER || out.id.x>in->m_ancho-BORDER){
//free(out);
// return 1;
lua_pushboolean(L, 1);
}
else{
//free(out);
//return 0;
lua_pushboolean(L, 0);
}
return 1;
}
