int main()
{
printf("One pass: variance = %f\n", one_pass(measurements, 6));
printf("Two pass: variance = %f\n", two_pass(measurements, 6));
}
static void mainloop (void) {
int i,j;
unsigned char processedPixels[FRAME_HEIGHT][FRAME_WIDTH];
for (;;) {
fd_set fds;
struct timeval tv;
int r;
FD_ZERO (&fds);
FD_SET (fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select (fd + 1, &fds, NULL, NULL, &tv);
if (-1 == r) {
if (EINTR == errno)
continue;
errno_exit ("select");
}
if (0 == r) {
fprintf (stderr, "select timeout\n");
exit (EXIT_FAILURE);
}
if (read_frame ()) {
// process the video
process_video(pixels, processedPixels);
// convert grayscale processed pixels to an RGB format
convert_grayscale_to_rgb(pixels, processedPixels,FRAME_WIDTH, FRAME_HEIGHT);
// process blobs
int labels[FRAME_HEIGHT][FRAME_WIDTH];
for(i = 0; i < FRAME_HEIGHT; i++) {
for(j = 0; j < FRAME_WIDTH; j++) {
labels[i][j] = -1;
}
}
int numBlobs = two_pass(processedPixels, labels, FRAME_WIDTH, FRAME_HEIGHT);
blob blobs[MAX_BLOBS];
extract_blobs(blobs, numBlobs, labels, FRAME_WIDTH, FRAME_HEIGHT);
// remove too small/big blobs
numBlobs = apply_blob_size_heuristic(blobs, numBlobs);
// get all center points for blobs
coord centerCoords[MAX_BLOBS];// = (coord*)malloc(sizeof(coord) * numBlobs);
get_blob_centers(blobs, numBlobs, centerCoords);
collinear points[MAX_BLOBS];
int shortSegments = get_more_straight_sides(centerCoords, numBlobs, points);
coord shapeCoords[5];
int shapeFound = 0;
for(i = 0; i < shortSegments; i++) {
coord p1 = points[i].point1;
coord p2 = points[i].point2;
coord p3 = points[i].point3;
double m1 = fabs(distance(p1, p2));
double m2 = fabs(distance(p2, p3));
double m3 = fabs(distance(p1, p3));
if(is_long_side(points[i])) {
collinear shortSide;
int shortSideFound = get_short_side(centerCoords, numBlobs, points[i], &shortSide);
if(shortSideFound) {
draw_collinear(pixels, shortSide);
draw_collinear(pixels, points[i]);
/*print_point(p1);
print_point(p2);
print_point(p3); */
//printf(" -------------------- SHORT SIDE \n");
/*
print_point(shortSide.point1);
print_point(shortSide.point2);
print_point(shortSide.point3);*/
printf("\n");
shapeCoords[0] = p1;
shapeCoords[1] = p2;
shapeCoords[2] = p3;
shapeCoords[3] = shortSide.point1;
shapeCoords[4] = shortSide.point3;
shapeFound = 1;
break;
}
} else if(is_short_side(points[i])) {
collinear longSide;
int longSideFound = get_long_side(centerCoords, numBlobs, points[i], &longSide);
if(longSideFound) {
draw_collinear(pixels, longSide);
draw_collinear(pixels, points[i]);
/*
print_point(p1);
print_point(p2);
print_point(p3); */
//printf(" ======================== LONG SIDE\n");
/*
print_point(longSide.point1);
print_point(longSide.point2);
print_point(longSide.point3); */
printf("\n");
shapeCoords[0] = p1;
shapeCoords[1] = p2;
shapeCoords[2] = p3;
shapeCoords[3] = longSide.point1;
shapeCoords[4] = longSide.point3;
shapeFound = 1;
break;
}
}
}
if(shapeFound) {
int imageCenterX = FRAME_WIDTH / 2;
int imageCenterY = FRAME_HEIGHT / 2;
coord center;
center.x = imageCenterX;
center.y = imageCenterY;
double distance = distance_from_center(shapeCoords[1]);
double angle = quadrant_angle(shapeCoords[1]);
if(distance > 100) {
printf("MOVE TOWARDS CENTER :: ANGLE : %f :: DISTANCE : %f(pixels)\n",
angle, distance);
//print_direction(angle);
} else {
printf("MOVE DOWN HEIGHT : ?\n");
}
print_image(centerCoords, numBlobs, shapeCoords, 5);
}
free_blobs(blobs, numBlobs);
frame = create_cam_img(pixels, FRAME_WIDTH, FRAME_HEIGHT);
apply_surface(0, 0, frame, screen);
SDL_Flip(screen);
}
}
}
