CELLP newcell()
{
CELLP cp;
//printf("=%d= ", __LINE__);
if((freecelltop + 1) >= fromcelltop + (CELLSIZ / 2)) {
if(verbose) {
fprintf(stderr, "====== Newcell call GBC. ======\n");
}
//printf("=%d= ", __LINE__);
gbc(OFF, ON);
//printf("=%d= ", __LINE__);
if((freecelltop + 1) >= fromcelltop + (CELLSIZ / 2)) {
//printf("=%d= ", __LINE__);
fprintf(stdout,"New Cell allocation failed!!!!!!\n");
//printf("=%d= ", __LINE__);
exit(0);
}
//printf("=%d= ", __LINE__);
}
//printf("=%d= ", __LINE__);
cp = freecelltop;
//printf("=%d= ", __LINE__);
freecelltop++;
//printf("=%d= ", __LINE__);
cp->cdr = (CELLP)nil;
//printf("=%d= ", __LINE__);
//printf("==fromcelltop=%p + CELLSIZ/2=%d = %p; cp=%p; freecelltop=%p== ", fromcelltop, CELLSIZ/2, fromcelltop + (CELLSIZ / 2), cp, freecelltop);
allocated_cell++;
return cp;
}
ATOMP newatom() {
ATOMP ap;
//予約語のための領域確保の場合
//printf("=%d= ", __LINE__);
if(save_in_sys_atom == 1) {
fprintf(stdout, "Allocation System Atom\n");
// if((freesysatomtop + 1) >= freesysatomtop + SYSATOMS)
if((freesysatomtop + 1) >= freesysatom + SYSATOMS) { // !!!N
fprintf(stderr, "Error:: Can't generate systemAtom");
exit(0);
}
ap = freesysatomtop;
freesysatomtop++;
//printf("=%d= ", __LINE__);
return ap;
}
//新しいATOMPを用意すると半分からはみ出る場合にはGC起動
if((freeatomtop + 1) >= fromatomtop + (ATOMSIZ / 2)) {
if(verbose) {
fprintf(stderr, "====== New atom call GBC. ======\n");
}
gbc(OFF, ON);
if((freeatomtop + 1) >= fromatomtop + (ATOMSIZ / 2)) {
fprintf(stdout,"New atom allocation failed!!!!!!\n");
exit(0);
}
}
ap = freeatomtop;
freeatomtop++;
//printf("=%d= ", __LINE__);
//Increment allocated_atom
allocated_atom++;
return ap;
}
ATOMP newatom()
{
ATOMP ap;
if (freeatom == (ATOMP)nil) {
gbc(OFF, ON); ec;
}
ap = freeatom;
freeatom = (ATOMP)freeatom->plist; // プロパティ（属性）リスト
return ap;
}
NUMP newnum()
{
NUMP np;
if (freenum == (NUMP)nil) {
gbc(ON, OFF); ec;
}
np = freenum;
freenum = freenum->value.ptr;
return np;
}
CELLP newcell()
{
CELLP cp;
if (freecell == (CELLP)nil) {
gbc(OFF, OFF); ec;
}
cp = freecell;
freecell = freecell->cdr;
cp->cdr = (CELLP)nil;
return cp;
}
NUMP newnum() {
NUMP np;
//新しいNUMを追加すると分からはみ出る場合にはGCを起動する。
//printf("=%d= ", __LINE__);
if((freenumtop + 1) >= fromnumtop + (NUMSIZ / 2)){
if(verbose) {
fprintf(stderr, "====== New num call GBC. ======\n");
}
gbc(ON, OFF); ec;
if((freenumtop + 1) >= fromnumtop + (NUMSIZ / 2)) {
fprintf(stdout,"New num allocation failed!!!!!!\n");
exit(0);
}
}
np = freenumtop;
freenumtop++;
//printf("=%d= ", __LINE__);
allocated_num++;
return np;
}
//自由セルが一定数を下回った場合にはgbcを起動する。
void checkgbc(void){
if(fc < FREESIZE)
gbc();
}
int f_gbc(int arglist){
gbc();
return(T);
}
int main(const int argc, const char **argv)
{
// instantiate a model manager:
ModelManager manager("Frame Grabber Tester");
// Instantiate our various ModelComponents:
nub::soft_ref<FrameGrabberConfigurator>
gbc(new FrameGrabberConfigurator(manager));
manager.addSubComponent(gbc);
nub::soft_ref<CameraControl>
camera(new CameraControl(manager, "Camera Controller", "CameraControl",
0, true, 0, 1, 1));
manager.addSubComponent(camera);
// Parse command-line:
if (manager.parseCommandLine(argc, argv, "", 0, 0) == false) return(1);
// do post-command-line configs:
nub::soft_ref<FrameIstream> gb = gbc->getFrameGrabber();
if (gb.isInvalid())
LFATAL("You need to select a frame grabber type via the "
"--fg-type=XX command-line option for this program "
"to be useful");
int width = gb->getWidth(), height = gb->getHeight();
float delay = 0;
// let's get all our ModelComponent instances started:
manager.start();
XWindow wini(Dims(width, height), 0, 0, "test-input window");
XWindow wino1(Dims(width/4, height/4), 0, 0, "test-output window 1");
XWindow wino2(Dims(width/4, height/4), 0, 0, "test-output window 2");
XWindow winAux1(Dims(100, 450), 0, 0, "HSV levels 1");
XWindow winAux2(Dims(100, 450), 0, 0, "HSV levels 2");
Timer tim; Image< PixRGB<byte> > ima; Image< PixRGB<float> > fima;
Image< PixRGB<byte> > display;
Timer camPause; // to pause the move command
camPause.reset();
uint64 t[NAVG]; int frame = 0;
segmentImageMerge segmenter(2);
// set up tracking parameters
//segmenter.setTrackColor(10,10,0.15,0.20,150,150,0,true,15);
segmenter.setTrackColor(13,7,0.17,0.3,156,30,0,true,15);
//segmenter.setTrackColor(10,10,0.15,0.20,150,150,1,false,15);
segmenter.setTrackColor(270,10,0.18,0.25,60,60,1,true,15);
segmenter.setAdaptBound(20,5,.30,.15,170,100,0);
//segmenter.setAdaptBound(15,5,.30,.25,140,100,0);
segmenter.setAdaptBound(285,265,.25,.15,80,40,1);
segmenter.setFrame(0,0,width/4,height/4,width/4,height/4,0);
segmenter.setFrame(0,0,width/4,height/4,width/4,height/4,1);
segmenter.setCircleColor(0,255,0,0);
segmenter.setCircleColor(0,0,255,1);
segmenter.setBoxColor(255,255,0,0);
segmenter.setBoxColor(255,0,255,1);
segmenter.setAdapt(3,true,3,true,3,true,0);
segmenter.setAdapt(3,true,3,true,3,true,1);
while(1) {
tim.reset();
ima = gb->readRGB();
uint64 t0 = tim.get(); // to measure display time
Image<PixRGB<byte> > Aux1;
Image<PixRGB<byte> > Aux2;
Aux1.resize(100,450,true);
Aux2.resize(100,450,true);
Image<byte> outputI1;
Image<byte> outputI2;
display = ima;
segmenter.trackImage(ima,&display,0,&Aux1);
segmenter.trackImage(ima,&display,1,&Aux2);
segmenter.mergeImages(&display);
if(camPause.get() > delay)
{
int modi,modj;
segmenter.getImageTrackXY(&modi,&modj,0);
//segmenter.getImageTrackXYMerge(&modi,&modj);
modi = modi*8;
modj = 480-modj*8;
if(modi > 0 && modi < 640 && modj > 0 && modj < 480)
{
if(segmenter.returnLOT(0) == false)
{
camPause.reset();
delay = camera->moveCamXYFrame(modi,modj);
}
}
}
Image<byte> temp1 = segmenter.returnCandidateImage(0);
Image<byte> temp2 = segmenter.returnCandidateImage(1);
wini.drawImage(display);
//wino1.drawImage(outputI1);
wino1.drawImage(temp1);
wino2.drawImage(temp2);
winAux1.drawImage(Aux1);
winAux2.drawImage(Aux2);
t[frame % NAVG] = tim.get();
t0 = t[frame % NAVG] - t0;
if (t0 > 28) LINFO("Display took %llums", t0);
// compute and show framerate over the last NAVG frames:
if (frame % NAVG == 0 && frame > 0)
{
uint64 avg = 0; for (int i = 0; i < NAVG; i ++) avg += t[i];
float avg2 = 1000.0 / (float)avg * NAVG;
printf("Framerate: %.1f fps\n", avg2);
}
frame ++;
}
manager.stop();
return 0;
}
int f_gbc(int arglist){
gbc();
return(makeT());
}
