int Q021_Merge_Two_Sorted_Lists(){
printf("Test case 1\n");
vector<int> test_in1{1, 3, 4};
vector<int> test_in2{0};
ListNode* test_l1 = createList(test_in1);
printListNodes(test_l1);
ListNode* test_l2 = createList(test_in2);
printListNodes(test_l2);
ListNode* res_test1 = mergeTwoLists(test_l1, test_l2);
printListNodes(res_test1);
releaseList(test_l1);
releaseList(test_l2);
return 0;
}
int main (int argc, char **argv)
{
double scale = 1.;
double width = 80.;
double atom = 1e-8; /* 1e-8 */
double d;
int n;
gatherOptions(argc, argv, &scale, &width, &atom);
doubleList_t *list = NULL;
initList(list);
while (scanf("%lf", &d) == 1) {
addToList(&list, d);
}
double *array;
n = countList(list);
array = listToArray(list, n);
releaseList(list);
stem_leaf(array, n, scale, width, atom);
free(array);
return EXIT_SUCCESS;
}
void main(int argc, char** argv)
{
CvPoint2D32f srcQuad[4], dstQuad[4];
CvMat* warp_matrix = cvCreateMat(3,3,CV_32FC1);
float Z=1;
/*cvNamedWindow("img", CV_WINDOW_AUTOSIZE);
cvNamedWindow("warp", CV_WINDOW_AUTOSIZE);*/
dstQuad[0].x = 250; //src Top left
dstQuad[0].y = 100;
dstQuad[1].x = 430; //src Top right
dstQuad[1].y = 115;
dstQuad[2].x = 50; //src Bottom left
dstQuad[2].y = 170;
dstQuad[3].x = 630; //src Bot right
dstQuad[3].y = 250;
int lOff = 50, tOff = 150;
srcQuad[0].x = tOff; //dst Top left
srcQuad[0].y = lOff;
srcQuad[1].x = 640-tOff; //dst Top right
srcQuad[1].y = lOff;
srcQuad[2].x = tOff; //dst Bottom left
srcQuad[2].y = 480-lOff;
srcQuad[3].x = 640-tOff; //dst Bot right
srcQuad[3].y = 480-lOff;
cvGetPerspectiveTransform(srcQuad, dstQuad, warp_matrix);
int ik=0, ni = 0, niX = 22-1;
char names[22][25] = {
"../../Data/6 Dec/009.jpg",
"../../Data/6 Dec/011.jpg",
"../../Data/6 Dec/012.jpg",
"../../Data/6 Dec/016.jpg",
"../../Data/6 Dec/018.jpg",
"../../Data/6 Dec/019.jpg",
"../../Data/6 Dec/020.jpg",
"../../Data/6 Dec/022.jpg",
"../../Data/6 Dec/024.jpg",
"../../Data/6 Dec/064.jpg",
"../../Data/6 Dec/065.jpg",
"../../Data/6 Dec/066.jpg",
"../../Data/6 Dec/067.jpg",
"../../Data/6 Dec/068.jpg",
"../../Data/6 Dec/069.jpg",
"../../Data/6 Dec/070.jpg",
"../../Data/6 Dec/071.jpg",
"../../Data/6 Dec/072.jpg",
"../../Data/6 Dec/073.jpg",
"../../Data/6 Dec/074.jpg",
"../../Data/6 Dec/075.jpg",
"../../Data/6 Dec/076.jpg"
};
int lwSum = 0, nopf = 0;
//CvCapture *capture = cvCaptureFromCAM(0);
/*double fps = cvGetCaptureProperty(capture, CV_CAP_PROP_FPS);
IplImage* image = cvRetrieveFrame(capture);
CvSize imgSize;
imgSize.width = image->width;
imgSize.height = image->height;
CvVideoWriter *writer = cvCreateVideoWriter("out.avi", CV_FOURCC('M', 'J', 'P', 'G'), fps, imgSize);*/
while(1)
{
//IplImage* img = cvQueryFrame(capture);
IplImage* img = cvLoadImage( "../../Data/23 Jan/c.jpg", CV_LOAD_IMAGE_COLOR);
//cvSaveImage(nameGen(ik++), img, 0);
//cvShowImage("img", img);
IplImage* warp_img = cvCloneImage(img);
CV_MAT_ELEM(*warp_matrix, float, 2, 2) = Z;
cvWarpPerspective(img, warp_img, warp_matrix, CV_INTER_LINEAR | CV_WARP_INVERSE_MAP | CV_WARP_FILL_OUTLIERS);
//cvReleaseImage(&img);
//cvWaitKey(0);
IplImage* grayimg = cvCreateImage(cvGetSize(warp_img),IPL_DEPTH_8U,1);
cvCvtColor( warp_img, grayimg, CV_RGB2GRAY );
cvReleaseImage(&warp_img);
cvSmooth(grayimg, grayimg, CV_GAUSSIAN, 3, 3, 0.0, 0.0);
cvEqualizeHist(grayimg, grayimg);
cvThreshold(grayimg, grayimg, PercentileThreshold(grayimg, 10.0), 255, CV_THRESH_BINARY);
IplImage* finalimg = cvCreateImage(cvGetSize(grayimg),IPL_DEPTH_8U,3);
CvMemStorage* line_storage=cvCreateMemStorage(0);
CvSeq* results = cvHoughLines2(grayimg,line_storage,CV_HOUGH_PROBABILISTIC,10,CV_PI/180*5,350,100,10);
cvReleaseImage(&grayimg);
double angle = 0.0, temp;
double lengthSqd, wSum=0;
CvPoint center = cvPoint(0, 0);
for( int i = 0; i < results->total; i++ )
{
CvPoint* line = (CvPoint*)cvGetSeqElem(results,i);
//lengthSqd = (line[0].x - line[1].x)*(line[0].x - line[1].x) + (line[0].y - line[1].y)*(line[0].y - line[1].y);
wSum += 1;//lengthSqd;
if(line[0].y > line[1].y)
temp = atan((line[0].y - line[1].y + 0.0) / (line[0].x - line[1].x));
else
temp = atan((line[1].y - line[0].y + 0.0) / (line[1].x - line[0].x));
if(temp < 0)
angle += (90 + 180/3.14*temp)/* * lengthSqd*/;
else
angle += (180/3.14*temp - 90)/* * lengthSqd*/;
center.x += (line[0].x + line[1].x)/2;
center.y += (line[0].y + line[1].y)/2;
}
angle /= wSum; // Angle Direction: Left == -ve and Right == +ve
// Angle is calculated w.r.t Vertical
//angle+=10; // Angle Offset (Depends on camera's position)
center.x /= results->total;
center.y /= results->total;
double m = (angle != 0) ? tan(CV_PI*(0.5-angle/180)) : 100000; // 100000 represents a very large slope (near vertical)
//m=-m; // Slope Correction
CvPoint leftCenter = cvPoint(0, 0), rightCenter = cvPoint(0, 0);
double leftSlope = 0, rightSlope = 0, leftCount = 0, rightCount = 0;
for( int i = 0; i < results->total; i++ )
{
CvPoint* line = (CvPoint*)cvGetSeqElem(results,i);
CvPoint midPoint = cvPoint((line[0].x + line[1].x)/2, (line[0].y + line[1].y)/2);
double L11 = (0-center.y + m*(0-center.x + 0.0))/m;
double L22 = (midPoint.y-center.y + m*(midPoint.x-center.x + 0.0))/m;
if(L11*L22 > 0)
{
leftCenter.x += midPoint.x;
leftCenter.y += midPoint.y;
leftSlope += -(line[1].y - line[0].y)/(line[1].x - line[0].x+0.0001);
leftCount++;
}
else
{
rightCenter.x += midPoint.x;
rightCenter.y += midPoint.y;
rightSlope += -(line[1].y - line[0].y)/(line[1].x - line[0].x+0.0001);
rightCount++;
}
}
cvReleaseMemStorage(&line_storage);
leftCenter.x /= leftCount; leftCenter.y /= leftCount; leftSlope /= leftCount;
rightCenter.x /= rightCount; rightCenter.y /= rightCount; rightSlope /= rightCount;
CvPoint botCenter = cvPoint(finalimg->width/2, finalimg->height);
int dL = abs(botCenter.y-leftCenter.y + m * (botCenter.x-leftCenter.x)) / sqrt(m*m + 1);
int dR = abs(botCenter.y-rightCenter.y + m * (botCenter.x-rightCenter.x)) / sqrt(m*m + 1);
int lw = abs((leftCenter.y - rightCenter.y) + m*(leftCenter.x - rightCenter.x)) / sqrt(m*m + 1);
lwSum += lw;
nopf++;
if(lw <= SINGLE_LANE_WIDTH)
{
double L11 = (0-leftCenter.y + m*(0-leftCenter.x + 0.0))/m;
double L22 = (botCenter.y-leftCenter.y + m*(botCenter.x-leftCenter.x + 0.0))/m;
if(L11*L22 < 0)
dR = lwSum/nopf - dL; // Only Left Lane is visible
else
dL = lwSum/nopf - dR; // Only Right Lane is visible
}
//cvSaveImage("test.jpg", finalimg, 0);
printf("Bot:\t(%d, %d, %.3f)\n", dL, (finalimg->height)/10, 90.0-angle);
printf("Target:\t(%d, %d, %.3f)\n", (dL+dR)/2, (finalimg->height)*9/10, 90.0);
location bot, target;
bot.x = dL; bot.y = (finalimg->height)/10; bot.theta = 90.0-angle;
target.x = (dL+dR)/2; target.y = (finalimg->height)*9/10; target.theta = 90.0;
cvReleaseImage(&finalimg);
list *ol = NULL, *cl = NULL;
elem e,vare;
e.l = bot; e.g = 0; e.h = 0; e.id = UNDEFINED;
int n = 15;
elem* np = loadPosData(n);
while(1)
{
cl = append(cl, e);
//printList(cl);
if(isNear(e.l, target))
break;
ol = update(ol, e, target, np, n);
//printList(ol);
e = findMin(ol);
//printf("Min: (%.3f, %.3f, %.3f, %d)\n", e.l.x, e.l.y, e.l.theta, e.id);
ol = detach(ol, e);
//printList(ol);
//getchar();
}
free(np);
vare = e;
printf("(%.3f, %.3f, %.3f) : %d\n", vare.l.x, vare.l.y, vare.l.theta, vare.id);
while(!((abs(vare.l.x-bot.x) < 1.25) && (abs(vare.l.y-bot.y) < 1.25)))
{
vare=search(cl,vare.parent.x,vare.parent.y);
if(vare.id != -1)
{
printf("(%.3f, %.3f, %.3f) : %d\n", vare.l.x, vare.l.y, vare.l.theta, vare.id);
e = vare;
}
}
printf("\n(%.3f, %.3f, %.3f) : %d\n", e.l.x, e.l.y, e.l.theta, e.id);
//navCommand(10-e.id, e.id);
releaseList(ol);
releaseList(cl);
getchar();
int c = cvWaitKey(0);
if(c == '4')
{
if(ni != 0)
ni--;
}
else if(c == '6')
{
if(ni != niX)
ni++;
}
}
}
PObject::~PObject()
{
releaseList(); // at destrution of class, release it's children from memory
}
void releaseQueue(Queue *queue) {
releaseList(queue->head);
free(queue);
}
void releaseStack(Stack *stack) {
releaseList(stack->top);
free(stack);
}
