int main(void){
int **R, **G, **B, **Y, **F, **L;
int hist[256];
int boader;
int label_num;
R = (int **)IAllocImage(640,480); // 画像領域（赤）を確保
G = (int **)IAllocImage(640,480); // 画像領域（緑）を確保
B = (int **)IAllocImage(640,480); // 画像領域（青）を確保
Y = (int **)IAllocImage(640,480); // 画像領域（グレースケール）を確保
F = (int **)IAllocImage(640,480); // 画像領域（二値）を確保
L = (int **)IAllocImage(640,480); // 画像領域（ラベル付）を確保
GInit(640,480); // Windowの生成
ILoadPpmImage("abstmix.ppm",R,G,B); // ppmファイルの読み込み
TranslateGrayScale(R,G,B,Y); // グレースケールに変換
MakeHistogram(Y,hist); // ヒストグラム作成
DisplayColorImage(Y,Y,Y);
boader = Percentile(Y,hist,0.92);
TranslateBoolScale(Y,F,boader); // パーセンタイル法で2値化
remove_noise(F,13);
label_num=labeling(F,L);
DisplayColorImage(F,F,F);
printf("label_num=%d\n",label_num);
printLabelingData(L,label_num);
GWaitLoop(); // 終了処理
exit(EXIT_SUCCESS);
}
int main(void){
int **R, **G, **B, **Y, **F;
int hist[256];
double per; // パーセンタイル法におけるpの値
int boader;
R = (int **)IAllocImage(640,480); // 画像領域（赤）を確保
G = (int **)IAllocImage(640,480); // 画像領域（緑）を確保
B = (int **)IAllocImage(640,480); // 画像領域（青）を確保
Y = (int **)IAllocImage(640,480); // 画像領域（グレースケール）を確保
F = (int **)IAllocImage(640,480); // 画像領域（二値）を確保
GInit(640,480); // Windowの生成
ILoadPpmImage("abstmix.ppm",R,G,B); // ppmファイルの読み込み
TranslateGrayScale(R,G,B,Y); // グレースケールに変換
MakeHistogram(Y,hist); // ヒストグラム作成
DisplayColorImage(Y,Y,Y);
printf("input per\n");
while(EOF!=scanf("%lf",&per)){ // パーセンタイル法で二値化
printf("per=%g,black=%g\n",per,IE*JE*per);
boader = Percentile(Y,hist,per);
printf("boader=%d\n",boader);
TranslateBoolScale(Y,F,boader);
remove_noise(F,0);
DisplayColorImage(F,F,F);
}
GWaitLoop(); // 終了処理
exit(EXIT_SUCCESS);
}
void loop() {
Timer loop_t = Timer("TOTAL");
cv::Mat depth, obstacle, clear;
cv_bridge::CvImagePtr img;
{
Timer setup_t = Timer("setup");
/* Grab a pair of images */
sensor_msgs::Image::ConstPtr img_msg;
stereo_msgs::DisparityImage::ConstPtr disp_msg;
get_images(img_msg, disp_msg);
if (img_msg == NULL || disp_msg == NULL) {
loop_t.disable();
setup_t.disable();
//ROS_INFO("No images");
return;
}
/* We don't want to waste time calculating the
same image twice.
*/
unsigned int seq = disp_msg->image.header.seq;
if (last_seq == seq && !last_msg) {
ROS_INFO("Old message #%d", seq);
loop_t.disable();
setup_t.disable();
last_msg = true;
return;
}
last_seq = seq;
last_msg = false;
/* Display raw image */
img = cv_bridge::toCvCopy(img_msg,
sensor_msgs::image_encodings::BGR8);
/* Get disparity data */
cv_bridge::CvImagePtr disp = cv_bridge::toCvCopy(disp_msg->image,
"32FC1");
float focal = disp_msg->f; float base = disp_msg->T;
/* Generate depth image */
/* Why are these so inaccurate? Calibration issue?
float min_depth = (focal * base) / disp_msg->min_disparity;
float max_depth = (focal * base) / disp_msg->max_disparity;
*/
cv::Mat full_depth = (focal * base) / disp->image;
/* Not be necessary if downscale = 1 */
cv::resize(full_depth, depth, cv::Size(IMG_WIDTH, IMG_HEIGHT));
/* Display value-scaled depth image */
#ifdef CV_OUTPUT
cv::Mat scaled_depth = depth / RANGE_MAX;
cv::imshow(DEPTH_WINDOW, scaled_depth);
#endif
/* Create empty obstacle map */
obstacle = cv::Mat::zeros(IMG_HEIGHT, IMG_WIDTH, CV_32F);
clear = cv::Mat::zeros(IMG_HEIGHT, IMG_WIDTH, CV_32F);
}
float pct_good;
/* Find and display obstacles */
{
Timer obs_t = Timer("find_obstacles");
pct_good = find_obstacles(depth, obstacle, RANGE_MIN, 100.0);
}
#ifdef CV_OUTPUT
cv::Mat scaled_obs = obstacle / RANGE_MAX;
cv::imshow(OBS_WINDOW, scaled_obs);
#endif
std::vector<Slice> slices;
std::vector<RectList> slice_bboxes;
{
Timer slice_t = Timer("calc slicing");
/* Set up slices */
{
Timer init_t = Timer("init", 1);
init_slices(slices);
}
{
Timer fill_t = Timer("fill", 1);
fill_slices(obstacle, slices, RANGE_MAX);
}
{
Timer noise_t = Timer("noise", 1);
for (int i = 0; i < slices.size(); i++) {
remove_noise(slices[i].mat);
}
}
{
Timer bbox_t = Timer("bbox", 1);
/* Calculate bounding box on each slice */
for (int i = 0; i < slices.size(); i++) {
slice_bboxes.push_back(calc_bboxes(slices[i].mat));
}
}
}
cv::Mat boxes_image, final_image;
{
Timer disp_t = Timer("disp slicing");
/* Display bounding boxes on image */
boxes_image = img->image.clone();
/* Convert box image to HSV */
cv::cvtColor(boxes_image, boxes_image, cv::COLOR_BGR2HSV);
/* Loop backwards-- farthest first, panter's algorithm */
for (int i = slice_bboxes.size()-1; i >= 0; i--) {
/* Calculate hue */
int hue = (int)(((float)i)/((float)slice_bboxes.size())*120.0);
cv::Scalar color = cv::Scalar(hue, 255, 255);
for (int j = 0; j < slice_bboxes[i].size(); j++) { //TODO: Iterators???
/* Get / resize boxes */
cv::Rect bbox = slice_bboxes[i][j];
bbox.x *= DOWNSCALE; bbox.y *= DOWNSCALE;
bbox.width *= DOWNSCALE; bbox.height *= DOWNSCALE;
/* Draw boxes */
cv::rectangle(boxes_image, bbox, color, -1);
}
}
/* Convert back to RGB */
cv::cvtColor(boxes_image, boxes_image, cv::COLOR_HSV2BGR);
/* Combine with image */
cv::addWeighted(boxes_image, 0.3, img->image, 0.7, 0.0, final_image);
}
/* Generate top-down image */
cv::Mat top;
top = cv::Mat::zeros(TOP_SIZE, TOP_SIZE, CV_8UC1);
Grid grid = Grid(GRID_WIDTH, GRID_HEIGHT, RANGE_MAX, RANGE_MAX);
{
Timer top_t = Timer("topdown");
/* Init top-down image */
calc_topdown_grid(grid, slices, slice_bboxes, RANGE_MAX);
publish_grid(grid, pct_good);
draw_grid(grid, top);
calc_topdown(top, slices, slice_bboxes, RANGE_MAX);
}
#ifdef CV_OUTPUT
cv::imshow(TOP_WINDOW, top);
cv::imshow(IMAGE_WINDOW, final_image);
#endif
#if defined(__SLICE_DEBUG) && defined(CV_OUTPUT)
for (int i = 0; i < NUM_SLICES; i++) {
std::string s = "a";
s[0] = 'a'+i;
cv::imshow(s, slices[i]);
}
#endif
}
// Main function
int main (void)
{
// Local variable definations
emxArray_uint8_T *xaxis;
emxArray_uint8_T *yaxis;
emxArray_uint8_T *norm_xaxis_filt;
emxArray_uint8_T *norm_yaxis_filt;
uint16_T count;
uint8_T xaxis2,yaxis2;
long j = 0;
int again = 1;
char letter;
char letterstr[10];
int i=0;
letterstr[i] = '\0';
// Variable Initialisation
for(j=0;j<MAX_VALUE;j++)
{
xdata[j] = 0;
ydata[j] = 0;
}
// Function Initialisation
PINSEL2 &= ~((1<<2)|(1<<3));
GLCD_Initalize(); //Initialize the LCD
Init_UART();
InitADC();
// Welcome message
GLCD_ClearScreen();
GLCD_GoTo(10,4);
GLCD_WriteString("Intelligent e-book");
// for(j=0;j<999999;j++);
delay_ms(2000);
// Calibration
//Left bottom
GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Calibration");
GLCD_GoTo(10,4);
GLCD_WriteString("Touch the point");
GLCD_GoTo(0,7);
GLCD_WriteString("o");
do
{
xaxis1 = Read_xaxis();
yaxis1 = Read_yaxis();
if(xaxis1<10)
xaxis1 = 0;
if(yaxis1<10)
yaxis1 = 0;
}while(xaxis1==0 && yaxis1==0);
for(j=0;j<25;j++)
capture();
x1 = xaxis1;
y1 = yaxis1;
GLCD_GoTo(10,5);
GLCD_WriteString("Stored");
delay_ms(1000);
//Right top
GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Calibration");
GLCD_GoTo(10,4);
GLCD_WriteString("Touch the point");
GLCD_GoTo(120,0);
GLCD_WriteString("o");
do
{
xaxis1 = Read_xaxis();
yaxis1 = Read_yaxis();
if(xaxis1<10)
xaxis1 = 0;
if(yaxis1<10)
yaxis1 = 0;
}while(xaxis1==0 && yaxis1==0);
for(j=0;j<25;j++)
capture();
x2 = xaxis1;
y2 = yaxis1;
GLCD_GoTo(10,5);
GLCD_WriteString("Stored");
delay_ms(1000);
while(again==1)
{
again = 0;
// Capturing xaxis and yaxis
GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Intelligent e-book");
GLCD_GoTo(12,4);
GLCD_WriteString("Waiting for input");
do
{
xaxis1 = Read_xaxis();
yaxis1 = Read_yaxis();
if(xaxis1<10)
xaxis1 = 0;
if(yaxis1<10)
yaxis1 = 0;
}while(xaxis1==0 && yaxis1==0);
xyelem = 0;
count = 0;
GLCD_ClearScreen();
GLCD_GoTo(0,0);
// Eliminate first 25 samples
for(j=0;j<25;j++)
capture();
while(count!=250)
{
capture();
if(xaxis1!=0 && yaxis1!=0 && count==0)
{
// xaxis2 = (uint8_T)(((xaxis1-80)*255)/730);
// yaxis2 = (uint8_T)(((yaxis1-100)*255)/650);
xaxis2 = (uint8_T)(((xaxis1-x1)*255)/(x2-x1));
yaxis2 = (uint8_T)(((yaxis1-y1)*255)/(y2-y1));
count = 0;
xdata[xyelem] = xaxis2;
ydata[xyelem] = yaxis2;
xyelem = xyelem + 1;
GLCD_SetPixel(xaxis2/2,255-(yaxis2/4),1);
if(xyelem>MAX_VALUE - 1)
{
GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Intelligent e-book");
GLCD_GoTo(10,4);
GLCD_WriteString("Overflow!!!");
while(1);
}
}
else if(xaxis1!=0 && yaxis1!=0)
{
xyelem = xyelem - 2;
// Eliminate first 25 samples
for(j=0;j<25;j++)
capture();
count = 0;
}
else
{
count = count + 1;
}
// delay(1000);
}
GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Intelligent e-book");
GLCD_GoTo(0,1);
GLCD_WriteString(letterstr);
//GLCD_GoTo(10,4);
//GLCD_WriteString("Scanning ended");
//delay_ms(500);
// Transmitting data to PC
// transmit();
// Remove noise
remove_noise();
// Allocating space for pointers
xaxis = emxCreateWrapper_uint8_T(xdata,1,xyelem); //xdata1
yaxis = emxCreateWrapper_uint8_T(ydata,1,xyelem); //ydata1
emxInit_uint8_T(&norm_xaxis_filt, 2);
emxInit_uint8_T(&norm_yaxis_filt, 2);
/* GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Intelligent e-book");
GLCD_GoTo(0,2);
GLCD_WriteString("Step1");
GLCD_GoTo(37,2);
GLCD_WriteString("In");
*/
// for(j=0;j<999999;j++);
step1(xaxis, yaxis, norm_xaxis_filt, norm_yaxis_filt);
// GLCD_ClearScreen();
// GLCD_GoTo(10,0);
// GLCD_WriteString("Intelligent e-book");
// GLCD_GoTo(54,2);
// GLCD_WriteString("Out");
// for(j=0;j<999999;j++);
emxDestroyArray_uint8_T(xaxis);
emxDestroyArray_uint8_T(yaxis);
// GLCD_ClearScreen();
// GLCD_GoTo(10,0);
// GLCD_WriteString("Intelligent e-book");
// GLCD_GoTo(0,3);
// GLCD_WriteString("Step2");
// GLCD_GoTo(37,3);
// GLCD_WriteString("In");
// for(j=0;j<999999;j++);
// char_bin is stored in column first fashion... each column vector are concatenated
step2(norm_xaxis_filt, norm_yaxis_filt, char_bin);
// GLCD_ClearScreen();
// GLCD_GoTo(10,0);
// GLCD_WriteString("Intelligent e-book");
// GLCD_GoTo(54,3);
// GLCD_WriteString("Out");
// for(j=0;j<999999;j++);
emxFree_uint8_T(&norm_xaxis_filt);
emxFree_uint8_T(&norm_yaxis_filt);
// GLCD_ClearScreen();
// GLCD_GoTo(10,0);
// GLCD_WriteString("Intelligent e-book");
// GLCD_GoTo(0,4);
// GLCD_WriteString("Step3");
// GLCD_GoTo(37,4);
// GLCD_WriteString("In");
// for(j=0;j<999999;j++);
for(j=0;j<10;j++)
char_vec[j] = 1;
step3(char_bin, char_vec);
// GLCD_ClearScreen();
// GLCD_GoTo(10,0);
// GLCD_WriteString("Intelligent e-book");
// GLCD_GoTo(54,4);
// GLCD_WriteString("Out");
// for(j=0;j<999999;j++);
for(j=0;j<26;j++)
char_vec1[j] = char_vec[j];
// Feeding char_vec to trained neural network
char_recog_nn(char_vec1,Y);
letter = character();
letterstr[i] = letter;
letterstr[i+1] = '\0';
// GLCD_ClearScreen();
// GLCD_GoTo(10,0);
// GLCD_WriteString("Intelligent e-book");
// GLCD_GoTo(0,6);
// GLCD_WriteString("Letter is: ");
GLCD_GoTo(0,1);
GLCD_WriteString(letterstr);
GLCD_GoTo(0,7);
GLCD_WriteString("Continue");
do
{
xaxis1 = Read_xaxis();
yaxis1 = Read_yaxis();
if(xaxis1<10)
xaxis1 = 0;
if(yaxis1<10)
yaxis1 = 0;
}while(xaxis1==0 && yaxis1==0);
again = 1;
i = i + 1;
/*
GLCD_ClearScreen();
GLCD_GoTo(10,0);
GLCD_WriteString("Intelligent e-book");
GLCD_GoTo(20,4);
GLCD_WriteString("Restarting.");
delay_ms(200);
GLCD_WriteString(".");
delay_ms(200);
GLCD_WriteString(".");
delay_ms(200);
GLCD_WriteString(".");
*/
delay_ms(400);
}
while(1);
}