I'm coding a C++ program that makes a certain movement with the mouse by itself when I press the left mouse button, it has F1, F2, F3 keys and each key has a different movement, and then I press the left mouse button to execute that movement , but what is happening is that I have to hold down the F1 key and the left mouse button at the same time for it to work, I wanted to press the F1 key just once and then just hold down the left mouse button !
#include <iostream>
#include <string>
#include <Windows.h>
#include "patterns.h"
#define getLen(x) (sizeof(x)/sizeof(x[0]))
using namespace std;
typedef struct $ {
string name;
long **pattner;
int len;
int rpm;
}weapon_t;
weapon_t *LoadWeapon(string name, long recoil[][2], int len, int rpm);
float GetK(float dpi, float sensi);
DWORD GetTime(float rpm);
void ExecControl(weapon_t gun);
float K;
int main()
{
K = GetK(800, 0.95);
weapon_t *ak47 = LoadWeapon("AK-47", ak47_pattern, getLen(ak47_pattern), 600);
weapon_t *m4a4 = LoadWeapon("M4A4", m4a4_pattern, getLen(m4a4_pattern), 666);
weapon_t *ump45 = LoadWeapon("UMP-45", ump45_pattern, getLen(ump45_pattern), 666);
weapon_t* m4a1s = LoadWeapon("M4A1S", m4a1s_pattern, getLen(m4a1s_pattern), 600);
weapon_t* famas = LoadWeapon("FAMAS", famas_pattern, getLen(famas_pattern), 600);
while (true) {
if (GetAsyncKeyState(VK_F1)) {
ExecControl(*ak47);
}
if (GetAsyncKeyState(VK_F2)) {
ExecControl(*m4a4);
}
if (GetAsyncKeyState(VK_F3)) {
ExecControl(*m4a1s);
}
if (GetAsyncKeyState(VK_F4)) {
ExecControl(*ump45);
}
if (GetAsyncKeyState(VK_F5)) {
ExecControl(*famas);
}
Sleep(150);
}
return 0;
}
void ExecControl(weapon_t gun) {
system("cls");
cout << "Weapon:\t" << gun.name << "\nShots:\t" << gun.len << "\nVelocity:\t" << gun.rpm << "\n\n\n";
DWORD delay = GetTime(gun.rpm);
int index = 0;
while (GetAsyncKeyState(VK_LBUTTON) && index != gun.len) {
mouse_event(MOUSEEVENTF_MOVE, long(gun.pattner[index][0] * K), long(gun.pattner[index][1] * K), 0, 0);
index++;
Sleep(delay);
}
index = 0;
}
weapon_t *LoadWeapon(string name, long recoil[][2], int len, int rpm) {
int i;
weapon_t *gun = new weapon_t();
gun->name = name;
gun->len = len;
gun->rpm = rpm;
gun->pattner = new long*[len];
for (i = 0; i < len; i++) {
gun->pattner[i] = new long[2];
}
for (i = 0; i < len; i++) {
gun->pattner[i][0] = recoil[i][0];
gun->pattner[i][1] = recoil[i][1];
}
return gun;
}
float GetK(float dpi, float sensi) {
return (1140 / (dpi*sensi));
}
DWORD GetTime(float rpm) {
return DWORD((60 / rpm) * 1000);
}
The problem is that your code is looking at the mouse left button only while any F1..F5 key is currently held down, and then you are not looking at the keyboard again until the left button is released or the current gun is exhausted.
You need a different approach, such as a state machine. Keep track of the current gun that is equipped at any given time. On each iteration of the main loop, check for state changes first (ie, check if any F1..F5 key is held down, and if so then equip the associated gun), and then act on the current state (ie, regardless of the keyboard state, if the left button is down, and a gun is equipped, then advance the gun to its next position). Let the loop handle the repetitive work for you. This will allow you to check the keyboard for gun changes while the left button is held down.
Try something more like this:
#include <iostream>
#include <string>
#include <Windows.h>
#include "patterns.h"
#define getLen(x) (sizeof(x)/sizeof(x[0]))
using namespace std;
typedef struct $ {
string name;
long **pattner;
int len;
int rpm;
}weapon_t;
weapon_t* LoadWeapon(string name, long recoil[][2], int len, int rpm);
float GetK(float dpi, float sensi);
DWORD GetTime(float rpm);
float K = GetK(800, 0.95);
int main()
{
weapon_t *ak47 = LoadWeapon("AK-47", ak47_pattern, getLen(ak47_pattern), 600);
weapon_t *m4a4 = LoadWeapon("M4A4", m4a4_pattern, getLen(m4a4_pattern), 666);
weapon_t *ump45 = LoadWeapon("UMP-45", ump45_pattern, getLen(ump45_pattern), 666);
weapon_t *m4a1s = LoadWeapon("M4A1S", m4a1s_pattern, getLen(m4a1s_pattern), 600);
weapon_t *famas = LoadWeapon("FAMAS", famas_pattern, getLen(famas_pattern), 600);
weapon_t* guns[] = {ak47, m4a4, m4a1s, ump45, famas};
int gun_keys[] = {VK_F1, VK_F2, VK_F3, VK_F4, VK_F5};
weapon_t *gun = nullptr;
int gun_index = -1;
DWORD gun_delay = 150;
bool is_mouse_down = false;
while (true) {
for(int i = 0; i < 5; ++i) {
if (GetAsyncKeyState(gun_key[i]) && (gun != guns[i])) {
gun = guns[i];
system("cls");
cout << "Weapon:\t" << gun->name << "\nShots:\t" << gun->len << "\nVelocity:\t" << gun->rpm << "\n\n\n";
gun_delay = GetTime(gun->rpm);
gun_index = 0;
break;
}
}
if (GetAsyncKeyState(VK_LBUTTON) < 0) {
if (!is_mouse_down) {
is_mouse_down = true;
if (gun != nullptr)
gun_index = 0;
}
if (gun != nullptr && gun_index != gun->len) {
mouse_event(MOUSEEVENTF_MOVE, long(gun->pattner[gun_index][0] * K), long(gun->pattner[gun_index][1] * K), 0, 0);
++gun_index;
Sleep(gun_delay);
continue;
}
}
else
is_mouse_down = false;
Sleep(150);
}
return 0;
}
weapon_t* LoadWeapon(string name, long recoil[][2], int len, int rpm) {
weapon_t *gun = new weapon_t();
gun->name = name;
gun->len = len;
gun->rpm = rpm;
gun->pattner = new long*[len];
for (int i = 0; i < len; i++) {
gun->pattner[i] = new long[2];
gun->pattner[i][0] = recoil[i][0];
gun->pattner[i][1] = recoil[i][1];
}
return gun;
}
float GetK(float dpi, float sensi) {
return (1140 / (dpi*sensi));
}
DWORD GetTime(float rpm) {
return DWORD((60 / rpm) * 1000);
}
Related
I use ftd3xx.dll to communicate with the device
The data read part and the data write part are divided into threads and used.
#include <thread>
#include <queue>
#include <array>
#include <windows.h>
using namespace std;
bool dataRead = false;
CRITICAL_SECTION sec;
queue< vector<unsigned short>> BufferQueue;
unsigned WINAPI Write(void* arg) {
int Width = 1000;
vector<unsigned short> data;
data.reserve(Width);
while (Opened)
{
while (dataRead)
{
if (BufferQueue.size() > 0) {
EnterCriticalSection(&sec);
data = BufferQueue.front();
BufferQueue.pop();
LeaveCriticalSection(&sec);
}
else
{
this_thread::sleep_for(2ms);
continue;
}
//wrtie something
}
if (!dataRead)
break;
}
_endthreadex(0);
return 0;
}
unsigned WINAPI Read(void* arg) {
int Width = 1000;
vector<unsigned short> data(Width);
BYTE* acReadBuf = new BYTE[Width];
ULONG ulBytesRead = 0;
int idx = 0;
Sleep(100);
while (dataRead)
{
ftStatus = FT_ReadPipe(ftHandle, CstReadPipeNo, acReadBuf, Width, &ulBytesRead, NULL);
if (FT_SUCCESS(ftStatus))
{
idx = 0;
for (int i = 0; i < Width; i++) {
data[i] = ((unsigned short)((unsigned short)acReadBuf[idx] | ((unsigned short)acReadBuf[idx + 1] << 8)));
idx += 2;
}
EnterCriticalSection(&sec);
if (BufferQueue.size() > 10000) {
queue< vector<unsigned short>> empty;
swap(BufferQueue, empty);
}
BufferQueue.push(data);
LeaveCriticalSection(&sec);
}
else
{
}
}
_endthreadex(0);
return 0;
}
void main() {
//start
InitializeCriticalSection(&sec);
dataRead = true;
HANDLE r_hThread = NULL;
unsigned r_threadID;
r_hThread = (HANDLE)_beginthreadex(NULL, 0, Read, NULL, 0, &r_threadID);
HANDLE w_hThread = NULL;
unsigned w_threadID;
w_hThread = (HANDLE)_beginthreadex(NULL, 0, Write, NULL, 0, &w_threadID);
//....///
//stop
dataRead = false;;
WaitForSingleObject(r_hThread, INFINITE);
WaitForSingleObject(w_hThread, INFINITE);
DeleteCriticalSection(&sec);
}
I want to queue the array directly, but first I am using it as a vector.
Importantly, data loss occurs when other programs are run or even calculators are run.
The same is true even if the device gives the data late or fast.
I would be grateful if someone could help me.
I am trying to play a sin wave sound with SDL2 by using the audio queue on C++. In order to do that, I have created a class "Speaker", which has a pushBeep function that is called every time a beep needs to be generated. I have created an AudioDevice successfully, and it is also successful when I do the QueueAudio to the device (I have checked on the debugger) but I can't seem to get any sound out of it.
I have tried changing the way I generate the samples in numerous ways, also, as I said previously, I have checked that the device is properly opened and the QueueAudio returns 0 for success.
This is the class
Speaker::Speaker()
{
SDL_AudioSpec ds;
ds.freq = Speaker::SPEAKER_FREQUENCY;
ds.format = AUDIO_F32;
ds.channels = 1;
ds.samples = 4096;
ds.callback = NULL;
ds.userdata = this;
SDL_AudioSpec os;
this->dev = SDL_OpenAudioDevice(NULL, 0, &ds, &os, NULL);
std::cout << "DEVICE: " << this->dev << std::endl;
SDL_PauseAudioDevice(this->dev, 0);
}
Speaker::~Speaker()
{
SDL_CloseAudioDevice(this->dev);
}
void Speaker::pushBeep(double freq, int duration) {
int nSamples = duration * Speaker::SPEAKER_FREQUENCY / 1000;
float* samples = new float[nSamples];
double v = 0.0;
for (int idx = 0; idx < nSamples; idx++) {
//float value = (float)Speaker::SPEAKER_AMPLITUDE * std::sin(v * 2 * M_PI / Speaker::SPEAKER_FREQUENCY);
float value = 440.0;
samples[idx] = value;
v += freq;
}
int a = SDL_QueueAudio(this->dev, (void*)samples, nSamples * sizeof(float));
std::cout << a << std::endl;
delete[] samples;
samples = NULL;
}
And this is how I call it
Speaker s;
s.pushBeep(440.0, 1000);
When I try with the sin wave generation code (commented) it gives me a "double to float loss of precision" error. When I use the fixed value (not commented) it does not give the error, but it still does not work.
I expect the program to output the sound.
Couple of things you are missing, or maybe you didn't add to your code snippet. You didn't specify an audio callback so when you call SDL_QueueAudio(); it didn't know what to do with the data I'm pretty sure. And you weren't calling SDL_PauseAudioDevice() in your example with the delay.
#include <math.h>
#include <SDL2/SDL.h>
#include <SDL2/SDL_audio.h>
#include <iostream>
namespace AudioGen
{
const int AMPLITUDE = 1;
const int SAMPLE_RATE = 44000;
// Globals
float *in_buffer;
SDL_atomic_t callback_sample_pos;
SDL_Event event;
SDL_bool running = SDL_TRUE;
/**
* Structure for holding audio metadata such as frequency
*/
struct AudioData
{
int sampleNum;
float frequency;
};
void audio_callback(void *user_data, Uint8 *raw_buffer, int bytes)
{
float *buffer = (float*)raw_buffer;
AudioData &audio_data(*static_cast<AudioData*>(user_data));
int nSamples = bytes / 4; // For F32
std::cout << nSamples << std::endl;
for(int i = 0; i < nSamples; i++, audio_data.sampleNum++)
{
double time = (double)audio_data.sampleNum / (double)SAMPLE_RATE;
buffer[i] = (float)(AMPLITUDE * sin(2.0f * M_PI * audio_data.frequency * time));
}
}
int buffer_length;
void callback(void *user_data, Uint8 *raw_buffer, int bytes)
{
float *buffer = (float*)raw_buffer;
int nSamples = bytes/4;
auto local_sample_pos = SDL_AtomicGet(&callback_sample_pos);
for(int i = 0; i < nSamples; ++i)
{
// Stop running audio if all samples are finished playing
if(buffer_length == local_sample_pos)
{
running = SDL_FALSE;
break;
}
buffer[i] = in_buffer[local_sample_pos];
++local_sample_pos;
}
SDL_AtomicSet(&callback_sample_pos, local_sample_pos);
}
class Speaker
{
public:
Speaker()
{
SDL_Init(SDL_INIT_AUDIO);
SDL_AudioSpec ds;
ds.freq = SAMPLE_RATE;
ds.format = AUDIO_F32;
ds.channels = 1;
ds.samples = 4096;
ds.callback = callback;
ds.userdata = &ad; // metadata for frequency
SDL_AudioSpec os;
dev = SDL_OpenAudioDevice(NULL, 0, &ds, &os, SDL_AUDIO_ALLOW_FORMAT_CHANGE);
}
~Speaker()
{
SDL_CloseAudioDevice(dev);
SDL_Quit();
}
void pushBeep(float frequency, int duration)
{
ad.frequency = frequency; // set the frequency for the beep
SDL_PauseAudioDevice(dev, 0);
SDL_Delay(duration); // wait while sound is playing
SDL_PauseAudioDevice(dev, 1);
}
void pushBeep2(float frequency, int duration )
{
int nSamples = duration * SAMPLE_RATE / 1000;
in_buffer = new float[nSamples];
buffer_length = nSamples;
for (int idx = 0; idx < nSamples; idx++) {
double time = (double)idx / (double)SAMPLE_RATE;
in_buffer[idx] = (float)(AMPLITUDE * std::sin(2.0f * M_PI * frequency * time));
}
SDL_QueueAudio(dev, in_buffer, nSamples * sizeof(float));
SDL_PauseAudioDevice(dev, 0);
while(running){
while(SDL_PollEvent(&event)!=0);
}
delete[] in_buffer;
}
private:
SDL_AudioDeviceID dev;
AudioData ad;
int sampleNum = 0;
};
} // End of namespace AudioGen
int main(int argc, char *argv[])
{
AudioGen::Speaker speaker;
//speaker.pushBeep(440, 1000);
speaker.pushBeep2(440.0f, 1000);
return 0;
}
I have an issue where my Arduino program hangs for no reason. I run my program, and at some undetermined point, the Serial Monitor stops printing output. Here's what I've tested so far:
In my "com.init_drone()" method, I've commented everything out except for the last line, which signals that the method returned. When I do this, my program hangs somewhere else but still it doesn't get to the infinite while loop.
I've been outputting memory usage, and I'm getting numbers no lower than 450 -- this tells me that I'm not using an absurd amount of memory.
I've tried removing the Timer1 instantiation, interrupt attach/detach, bu that has had no effect on the program.
My .ino file(and Command) is located here for anyone that wants a fuller picture and doesn't want to scroll through all this code I'm going to post below.
Here's my log output so far. Notice the truncation!:
AT&F
AT+NMAC=00:1d:c9:10:39:6f
AT+WM=0
AT+NDHCP=1
AT+WA=ardrone_279440
AT+NCUDP=192.168.1.1,5556
S0AT*CONFIG=1,"general:navdata_demo","TRUE"
EAT*CONFIG=1,"general:navdata_demo","TRUE"
638
S0AT*CONFIG=2,"control:altitude_max","2000"
EAT*CONFIG=2,"control:altitude_max","2000"
638
S0AT*CONFIG=3,"control:euler_angle_max","0.35"
EAT*CONFIG=3,"control:euler_angle_max","0.35"
586
S0AT*CONFIG=4,"control:outdoor","FALSE"
EAT*CONFIG=4,"control:outdoor","FALSE"
635
S0AT*CONFIG=5,"control:flight_without_shell","FALSE"
EAT*CONFIG=5,"control:flight_without_shell","FALSE"
574
S0AT*CTRL=6,4,0
EAT*CTRL=6,4,0
629
S0AT*CTRL=7,0,0
EAT*CTRL=7,0,0
629
S0AT*CTRL=8,4,0
EAT*CTRL=8,4,0
629
S0AT*COMWDG=9
EAT*COMWDG=9
629
S0AT*COMWDG=10
EAT*COMWDG=10
629
S0AT*COMWDG=11
EAT*COMWDG=11
629
S0AT*COMWDG=12
EAT*COMWDG=12
629
S0AT*COMWDG=13
EAT*COMWDG=13
629
S0AT*FTRIM=14
EAT*FTRIM=14
629
Here is my .ino file:
#include "Command.h"
#include "Streaming.h"
int debug = 1;
extern ring_buffer rx_buf;
extern resultint_ resultint;
Command com;
int sequenceNumber = 1;
String atcmd = "";
#include "TimerOne.h"
#define LEDpin 13
void setup()
{
PCsrl.begin(9600);
com.start_wifi_connection();
com.drone_is_init = com.init_drone();
Timer1.initialize(COMWDG_INTERVAL_USEC);
Timer1.attachInterrupt(watchdog_timer);
}
void watchdog_timer() {
com.sendwifi(com.makeComwdg());
}
void loop()
{
if (com.drone_is_init == 0) {
if (debug) {
// never use three ! together in arduino code
PCsrl.println("Drone wasn't initlized before loop() was called. Initalizing now.\r\n");
}
} else {
com.drone_takeoff();
com.drone_takeoff();
com.sendwifi(com.makePcmd(1,0,0,0,0));
com.sendwifi(com.makePcmd(1,0,0,0,0));
delay(5000);
com.moveForward(1);
com.moveRotate(180);
com.moveForward(1);
com.moveRotate(180);
delay(500);
com.drone_landing();
com.drone_landing();
delay(500);
//end of program
Timer1.detachInterrupt();
PCsrl.println("Program finished");
while (1){};
}
}
And my Command.cpp
#ifndef GAINSPAN
#define GAINSPAN
#include "Command.h"
extern int sequenceNumber;
extern int debug;
ring_buffer rx_buf= {{0}, 0, 0};
resultint_ resultint;
Command::Command()
{
at = "";
command = "";
s2ip_running = 0;
drone_is_init = 0;
drone_is_hover = 0;
emergency = 0;
}
void Command::sendwifi(String s) {
WIFIsrl.write(27); //esc
WIFIsrl.print("S0"); //choose connection CID 0
WIFIsrl.print(s);
WIFIsrl.write(27);
WIFIsrl.print("E");
if(debug) PCsrl.println(s);
WIFIsrl.println(memoryTest());
}
int Command::start_wifi_connection()
{
WIFIsrl.begin(9600);
WIFIsrl.println("");
WIFIsrl.println("AT&F");
//WIFIsrl.println("ATE0"); //turn off echo
WIFIsrl.print("AT+NMAC=00:1d:c9:10:39:6f\r"); //set MAC address
WIFIsrl.println("AT+WM=0");
WIFIsrl.println("AT+NDHCP=1");
/* drone's network profile, change if needed*/
WIFIsrl.println("AT+WA=ardrone_279440");
WIFIsrl.println("AT+NCUDP=192.168.1.1,5556");
readARsrl();
delay(3000); //need 3 seconds for connection to establish
return 0;
}
String Command::makeComwdg()
{
at = "AT*COMWDG=";
command = at + getSequenceNumber() + "\r\n";
return command;
}
void Command::sendComwdg_t(int msec)
{
for (int i = 0; i < msec; i+=20) {
sendwifi(makeComwdg());
delay(20);
}
}
void Command::sendFtrim()
{
at = "AT*FTRIM=";
command = at + getSequenceNumber() + "\r\n";
sendwifi(command);
}
void Command::sendConfig(String option, String value)
{
at = "AT*CONFIG=";
command = at + getSequenceNumber() + ",\"" + option + "\",\"" + value + "\"\r\n";
sendwifi(command);
}
void Command::sendRef(flying_status fs)
{
at = "AT*REF=";
if(fs == TAKEOFF){
command = at + getSequenceNumber() + ",290718208\r\n"; //takeoff
}
else if(fs == LANDING){
command = at + getSequenceNumber() + ",290717696\r\n"; //landing
} else if (fs == EMERGENCY_TOGGLE){
command = at + getSequenceNumber() + ",290717952\r\n"; //landing
}
// emergency -> 290717952
sendwifi(command);
}
void Command::send_control_commands(){
at = "AT*CTRL=";
sendwifi(at+getSequenceNumber()+",4,0\r\n");
sendwifi(at+getSequenceNumber()+",0,0\r\n");
sendwifi(at+getSequenceNumber()+",4,0\r\n");
}
void Command::drone_emergency_reset()
{
at = "AT*REF=";
command = at + getSequenceNumber() + ",290717952\r\n";
sendwifi(command);
}
/** Movement functions **/
int Command::moveForward(float distanceInMeters)
{
float i = 0;
String moveForward = makePcmd(1, 0, -.855, 0, 0);
delay(1000*distanceInMeters);
sendPcmd(moveForward);
return 1;
}
int Command::moveRotate(float yawInDegrees)
{
int i = 0;
while (i < yawInDegrees) {
String stayRotate = makePcmd(1, 0, 0, 0, 0.17);
sendPcmd(stayRotate);
delay(150);
i += 8;
}
return 1;
}
String Command::makePcmd(int enable, float roll, float pitch, float gaz, float yaw)
{
at = "AT*PCMD=";
command = at + getSequenceNumber() + "," + enable + "," + fl2int(roll) + "," + fl2int(pitch) + "," + fl2int(gaz) + "," + fl2int(yaw) + "\r";
return command;
}
void Command::sendPcmd(String command)
{
previousCommand = command;
sendwifi(command);
}
void Command::sendPcmd(int enable, float roll, float pitch, float gaz, float yaw)
{
at = "AT*PCMD=";
command = at + getSequenceNumber() + "," + enable + "," + fl2int(roll) + "," + fl2int(pitch) + "," + fl2int(gaz) + "," + fl2int(yaw) + "\r";
sendwifi(command);
}
String Command::makeAnim(anim_mayday_t anim, int time)
{
at = "AT*ANIM=";
command = at + getSequenceNumber() + "," + anim + "," + time + "\r\n";
return command;
}
void Command::doLEDAnim(int animseq, int duration)
{
PCsrl << "calling LEDAnim" << endl;
at = "AT*LED=";
command = at + getSequenceNumber() + "," + animseq + ",1073741824," + duration + "\r\n";
sendwifi(command);
}
int Command::start_s2ip()
{
char temp;
//delay(20000); //wait for drone to start
readARsrl();
if (debug) {
PCsrl << "trying to start s2ip" << endl;
}
ARsrl.print("\r\n");
delay(500);
ARsrl.print("\r\n");
delay(500);
ARsrl << "cd ~" << endl;
if (debug) {
readARsrl();
}
delay(500);
ARsrl << "cd data/video/apps/" << endl;
delay(500);
ARsrl << "./s2ip.arm" << endl;
while ((int) temp != 2) {
temp = ARsrl.read();
if (temp == 2) {
PCsrl << "s2ip is running" << endl;
ARsrl << "bullshit\r\n"; //to fix a delay bug
break;
}
//PCsrl << "s2ip not running" << endl;
}
if (debug) {
while (ARsrl.available()) {
PCsrl.write(ARsrl.read());
}
}
return 1;
}
void Command::quit_s2ip()
{
ARsrl.println("EXIT");
while (ARsrl.available()) {
PCsrl.write(ARsrl.read());
}
}
int Command::init_drone()
{
sendConfig("general:navdata_demo","TRUE");
sendConfig("control:altitude_max","2000");
sendConfig("control:euler_angle_max","0.35");
sendConfig("control:outdoor","FALSE");
sendConfig("control:flight_without_shell","FALSE");
send_control_commands();
sendComwdg_t(90);
sendFtrim();
drone_emergency_reset(); //clear emergency flag
return 1;
}
int Command::drone_takeoff()
{
sendRef(TAKEOFF);
int i = 0;
return 1;
}
int Command::drone_hover(int msec)
{
int i = 0;
while (i < msec) {
sendwifi(makePcmd(1, 0, 0, 0, 0));
delay(100);
i += 100;
}
return 1;
}
int Command::drone_landing()
{
sendRef(LANDING);
return 1;
}
int Command::drone_move_up(int centimeter)
{
int i = 0;
while (i < centimeter) {
ARsrl << makePcmd(1, 0, 0, 0.6, 0);
delay(100);
i += 10;
}
return 1;
}
int Command::drone_move_down(int centimeter)
{
int i = 0;
while (i < centimeter) {
sendwifi(makePcmd(1, 0, 0, -0.5, 0));
delay(100);
i += 10;
}
return 1;
}
long Command::fl2int(float value)
{
resultint.i = 0;
if (value < -1 || value > 1) {
resultint.f = 1;
} else {
resultint.f=value;
}
return resultint.i;
}
void Command::readARsrl()
{
while (ARsrl.available()) {
if (debug) {
PCsrl.write(ARsrl.read());
}
}
}
//Memory test code from : http://www.faludi.com/2007/04/18/arduino-available-memory-test/
int Command::memoryTest() {
int byteCounter = 0; // initialize a counter
byte *byteArray; // create a pointer to a byte array
// More on pointers here: http://en.wikipedia.org/wiki/Pointer#C_pointers
// use the malloc function to repeatedly attempt
// allocating a certain number of bytes to memory
// More on malloc here: http://en.wikipedia.org/wiki/Malloc
while ( (byteArray = (byte*) malloc (byteCounter * sizeof(byte))) != NULL ) {
byteCounter++; // if allocation was successful, then up the count for the next try
free(byteArray); // free memory after allocating it
}
free(byteArray); // also free memory after the function finishes
return byteCounter; // send back the highest number of bytes successfully allocated
}
int Command::getSequenceNumber(){
return sequenceNumber++;
}
// Volatile, since it is modified in an ISR.
volatile boolean inService = false;
void SrlRead()
{
if (inService) {
PCsrl.println("timer kicked too fast");
return;
}
interrupts();
inService = true;
while(ARsrl.available()) {
unsigned char k = ARsrl.read();
store_char(k, &rx_buf);
}
inService = false;
}
void read_rx_buf()
{
while (rx_buf.tail != rx_buf.head) {
if (debug) {
PCsrl.write(rx_buf.buffer[rx_buf.tail]);
}
rx_buf.tail = (unsigned int) (rx_buf.tail+ 1) % SERIAL_BUFFER_SIZE;
}
}
inline void store_char(unsigned char c, ring_buffer *buffer)
{
int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != buffer->tail) {
buffer->buffer[buffer->head] = c;
buffer->head = i;
}
else {
Serial.println("ring buffer is too small");
}
}
#endif
I know it sounds weird but, sometimes this happens when arduino is not getting enough power supply. Try connecting the arduino to a power source different from USB.
As soon as I started to put things in prog memory my program started to clear up it's hiccups. It seems it was a memory issue.
I had the same problem, but the issue was with Timer1.initialize(). Try this:
com.drone_is_init = com.init_drone();
Serial.println("One");
Serial.println("Two");
Serial.println("Three");
Timer1.initialize(COMWDG_INTERVAL_USEC);
Timer1.attachInterrupt(watchdog_timer);
Open serial monitor and see... it will show until "Two", and then Arduino will hang.
The issue was I calling some functions of the LiquidCrystal_I2C library, that need interrupt routines. Check if your timer ISR is using some interrupts. If so, you should move this code to another place in your project.
i am having problems understanding how the audio part of the sdl library works
now, i know that when you initialize it, you have to specify the frequency and a >>callback<< function, which i think is then called automatically at the given frequency.
can anyone who worked with the sdl library write a simple example that would use sdl_audio to generate a 440 hz square wave (since it is the simplest waveform) at a sampling frequency of 44000 hz?
The Introduction to SDL (2011 cached version: 2) has got a neat example of using SDL Sound library that should get you started: http://www.libsdl.org/intro.en/usingsound.html
EDIT: Here is a working program that does what you asked for. I modified a bit the code found here: http://www.dgames.org/beep-sound-with-sdl/
#include <SDL/SDL.h>
#include <SDL/SDL_audio.h>
#include <queue>
#include <cmath>
const int AMPLITUDE = 28000;
const int FREQUENCY = 44100;
struct BeepObject
{
double freq;
int samplesLeft;
};
class Beeper
{
private:
double v;
std::queue<BeepObject> beeps;
public:
Beeper();
~Beeper();
void beep(double freq, int duration);
void generateSamples(Sint16 *stream, int length);
void wait();
};
void audio_callback(void*, Uint8*, int);
Beeper::Beeper()
{
SDL_AudioSpec desiredSpec;
desiredSpec.freq = FREQUENCY;
desiredSpec.format = AUDIO_S16SYS;
desiredSpec.channels = 1;
desiredSpec.samples = 2048;
desiredSpec.callback = audio_callback;
desiredSpec.userdata = this;
SDL_AudioSpec obtainedSpec;
// you might want to look for errors here
SDL_OpenAudio(&desiredSpec, &obtainedSpec);
// start play audio
SDL_PauseAudio(0);
}
Beeper::~Beeper()
{
SDL_CloseAudio();
}
void Beeper::generateSamples(Sint16 *stream, int length)
{
int i = 0;
while (i < length) {
if (beeps.empty()) {
while (i < length) {
stream[i] = 0;
i++;
}
return;
}
BeepObject& bo = beeps.front();
int samplesToDo = std::min(i + bo.samplesLeft, length);
bo.samplesLeft -= samplesToDo - i;
while (i < samplesToDo) {
stream[i] = AMPLITUDE * std::sin(v * 2 * M_PI / FREQUENCY);
i++;
v += bo.freq;
}
if (bo.samplesLeft == 0) {
beeps.pop();
}
}
}
void Beeper::beep(double freq, int duration)
{
BeepObject bo;
bo.freq = freq;
bo.samplesLeft = duration * FREQUENCY / 1000;
SDL_LockAudio();
beeps.push(bo);
SDL_UnlockAudio();
}
void Beeper::wait()
{
int size;
do {
SDL_Delay(20);
SDL_LockAudio();
size = beeps.size();
SDL_UnlockAudio();
} while (size > 0);
}
void audio_callback(void *_beeper, Uint8 *_stream, int _length)
{
Sint16 *stream = (Sint16*) _stream;
int length = _length / 2;
Beeper* beeper = (Beeper*) _beeper;
beeper->generateSamples(stream, length);
}
int main(int argc, char* argv[])
{
SDL_Init(SDL_INIT_AUDIO);
int duration = 1000;
double Hz = 440;
Beeper b;
b.beep(Hz, duration);
b.wait();
return 0;
}
Good luck.
A boiled-down variant of the beeper-example, reduced to the bare minimum (with error-handling).
#include <math.h>
#include <SDL.h>
#include <SDL_audio.h>
const int AMPLITUDE = 28000;
const int SAMPLE_RATE = 44100;
void audio_callback(void *user_data, Uint8 *raw_buffer, int bytes)
{
Sint16 *buffer = (Sint16*)raw_buffer;
int length = bytes / 2; // 2 bytes per sample for AUDIO_S16SYS
int &sample_nr(*(int*)user_data);
for(int i = 0; i < length; i++, sample_nr++)
{
double time = (double)sample_nr / (double)SAMPLE_RATE;
buffer[i] = (Sint16)(AMPLITUDE * sin(2.0f * M_PI * 441.0f * time)); // render 441 HZ sine wave
}
}
int main(int argc, char *argv[])
{
if(SDL_Init(SDL_INIT_AUDIO) != 0) SDL_Log("Failed to initialize SDL: %s", SDL_GetError());
int sample_nr = 0;
SDL_AudioSpec want;
want.freq = SAMPLE_RATE; // number of samples per second
want.format = AUDIO_S16SYS; // sample type (here: signed short i.e. 16 bit)
want.channels = 1; // only one channel
want.samples = 2048; // buffer-size
want.callback = audio_callback; // function SDL calls periodically to refill the buffer
want.userdata = &sample_nr; // counter, keeping track of current sample number
SDL_AudioSpec have;
if(SDL_OpenAudio(&want, &have) != 0) SDL_LogError(SDL_LOG_CATEGORY_AUDIO, "Failed to open audio: %s", SDL_GetError());
if(want.format != have.format) SDL_LogError(SDL_LOG_CATEGORY_AUDIO, "Failed to get the desired AudioSpec");
SDL_PauseAudio(0); // start playing sound
SDL_Delay(1000); // wait while sound is playing
SDL_PauseAudio(1); // stop playing sound
SDL_CloseAudio();
return 0;
}
SDL 2 C example
The following code produces a sinusoidal sound, it is adapted from: https://codereview.stackexchange.com/questions/41086/play-some-sine-waves-with-sdl2
main.c
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <SDL2/SDL.h>
const double ChromaticRatio = 1.059463094359295264562;
const double Tao = 6.283185307179586476925;
Uint32 sampleRate = 48000;
Uint32 frameRate = 60;
Uint32 floatStreamLength = 1024;
Uint32 samplesPerFrame;
Uint32 msPerFrame;
double practicallySilent = 0.001;
Uint32 audioBufferLength = 48000;
float *audioBuffer;
SDL_atomic_t audioCallbackLeftOff;
Sint32 audioMainLeftOff;
Uint8 audioMainAccumulator;
SDL_AudioDeviceID AudioDevice;
SDL_AudioSpec audioSpec;
SDL_Event event;
SDL_bool running = SDL_TRUE;
typedef struct {
float *waveform;
Uint32 waveformLength;
double volume;
double pan;
double frequency;
double phase;
} voice;
void speak(voice *v) {
float sample;
Uint32 sourceIndex;
double phaseIncrement = v->frequency/sampleRate;
Uint32 i;
if (v->volume > practicallySilent) {
for (i = 0; (i + 1) < samplesPerFrame; i += 2) {
v->phase += phaseIncrement;
if (v->phase > 1)
v->phase -= 1;
sourceIndex = v->phase*v->waveformLength;
sample = v->waveform[sourceIndex]*v->volume;
audioBuffer[audioMainLeftOff+i] += sample*(1-v->pan);
audioBuffer[audioMainLeftOff+i+1] += sample*v->pan;
}
}
else {
for (i=0; i<samplesPerFrame; i+=1)
audioBuffer[audioMainLeftOff+i] = 0;
}
audioMainAccumulator++;
}
double getFrequency(double pitch) {
return pow(ChromaticRatio, pitch-57)*440;
}
int getWaveformLength(double pitch) {
return sampleRate / getFrequency(pitch)+0.5f;
}
void buildSineWave(float *data, Uint32 length) {
Uint32 i;
for (i=0; i < length; i++)
data[i] = sin(i*(Tao/length));
}
void logSpec(SDL_AudioSpec *as) {
printf(
" freq______%5d\n"
" format____%5d\n"
" channels__%5d\n"
" silence___%5d\n"
" samples___%5d\n"
" size______%5d\n\n",
(int) as->freq,
(int) as->format,
(int) as->channels,
(int) as->silence,
(int) as->samples,
(int) as->size
);
}
void logVoice(voice *v) {
printf(
" waveformLength__%d\n"
" volume__________%f\n"
" pan_____________%f\n"
" frequency_______%f\n"
" phase___________%f\n",
v->waveformLength,
v->volume,
v->pan,
v->frequency,
v->phase
);
}
void logWavedata(float *floatStream, Uint32 floatStreamLength, Uint32 increment) {
printf("\n\nwaveform data:\n\n");
Uint32 i=0;
for (i = 0; i < floatStreamLength; i += increment)
printf("%4d:%2.16f\n", i, floatStream[i]);
printf("\n\n");
}
void audioCallback(void *unused, Uint8 *byteStream, int byteStreamLength) {
float* floatStream = (float*) byteStream;
Sint32 localAudioCallbackLeftOff = SDL_AtomicGet(&audioCallbackLeftOff);
Uint32 i;
for (i = 0; i < floatStreamLength; i++) {
floatStream[i] = audioBuffer[localAudioCallbackLeftOff];
localAudioCallbackLeftOff++;
if (localAudioCallbackLeftOff == audioBufferLength)
localAudioCallbackLeftOff = 0;
}
SDL_AtomicSet(&audioCallbackLeftOff, localAudioCallbackLeftOff);
}
int init(void) {
SDL_Init(SDL_INIT_AUDIO | SDL_INIT_TIMER);
SDL_AudioSpec want;
SDL_zero(want);
want.freq = sampleRate;
want.format = AUDIO_F32;
want.channels = 2;
want.samples = floatStreamLength;
want.callback = audioCallback;
AudioDevice = SDL_OpenAudioDevice(NULL, 0, &want, &audioSpec, SDL_AUDIO_ALLOW_FORMAT_CHANGE);
if (AudioDevice == 0) {
printf("\nFailed to open audio: %s\n", SDL_GetError());
return 1;
}
printf("want:\n");
logSpec(&want);
printf("audioSpec:\n");
logSpec(&audioSpec);
if (audioSpec.format != want.format) {
printf("\nCouldn't get Float32 audio format.\n");
return 2;
}
sampleRate = audioSpec.freq;
floatStreamLength = audioSpec.size / 4;
samplesPerFrame = sampleRate / frameRate;
msPerFrame = 1000 / frameRate;
audioMainLeftOff = samplesPerFrame * 8;
SDL_AtomicSet(&audioCallbackLeftOff, 0);
if (audioBufferLength % samplesPerFrame)
audioBufferLength += samplesPerFrame - (audioBufferLength % samplesPerFrame);
audioBuffer = malloc(sizeof(float) * audioBufferLength);
return 0;
}
int onExit(void) {
SDL_CloseAudioDevice(AudioDevice);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[]) {
float syncCompensationFactor = 0.0016;
Sint32 mainAudioLead;
Uint32 i;
voice testVoiceA;
voice testVoiceB;
voice testVoiceC;
testVoiceA.volume = 1;
testVoiceB.volume = 1;
testVoiceC.volume = 1;
testVoiceA.pan = 0.5;
testVoiceB.pan = 0;
testVoiceC.pan = 1;
testVoiceA.phase = 0;
testVoiceB.phase = 0;
testVoiceC.phase = 0;
testVoiceA.frequency = getFrequency(45);
testVoiceB.frequency = getFrequency(49);
testVoiceC.frequency = getFrequency(52);
Uint16 C0waveformLength = getWaveformLength(0);
testVoiceA.waveformLength = C0waveformLength;
testVoiceB.waveformLength = C0waveformLength;
testVoiceC.waveformLength = C0waveformLength;
float sineWave[C0waveformLength];
buildSineWave(sineWave, C0waveformLength);
testVoiceA.waveform = sineWave;
testVoiceB.waveform = sineWave;
testVoiceC.waveform = sineWave;
if (init())
return 1;
SDL_Delay(42);
SDL_PauseAudioDevice(AudioDevice, 0);
while (running) {
while (SDL_PollEvent(&event) != 0) {
if (event.type == SDL_QUIT) {
running = SDL_FALSE;
}
}
for (i = 0; i < samplesPerFrame; i++)
audioBuffer[audioMainLeftOff+i] = 0;
speak(&testVoiceA);
speak(&testVoiceB);
speak(&testVoiceC);
if (audioMainAccumulator > 1) {
for (i=0; i<samplesPerFrame; i++) {
audioBuffer[audioMainLeftOff+i] /= audioMainAccumulator;
}
}
audioMainAccumulator = 0;
audioMainLeftOff += samplesPerFrame;
if (audioMainLeftOff == audioBufferLength)
audioMainLeftOff = 0;
mainAudioLead = audioMainLeftOff - SDL_AtomicGet(&audioCallbackLeftOff);
if (mainAudioLead < 0)
mainAudioLead += audioBufferLength;
if (mainAudioLead < floatStreamLength)
printf("An audio collision may have occured!\n");
SDL_Delay(mainAudioLead * syncCompensationFactor);
}
onExit();
return 0;
}
Compile and run:
gcc -ggdb3 -O3 -std=c99 -Wall -Wextra -pedantic -o main.out main.c -lSDL2 -lm
./main.out
Should be easy to turn this into a simple piano with: https://github.com/cirosantilli/cpp-cheat/blob/f734a2e76fbcfc67f707ae06be7a2a2ef5db47d1/c/interactive/audio_gen.c#L44
For wav manipulation, also check the official examples:
http://hg.libsdl.org/SDL/file/e12c38730512/test/testresample.c
http://hg.libsdl.org/SDL/file/e12c38730512/test/loopwave.c
Tested on Ubuntu 19.10, SDL 2.0.10.
This is a minimal example of how to play a sine wave in SDL2.
Make sure to call SDL_Init(SDL_INIT_AUDIO) before creating an instance of Sound.
Sound.h
#include <cstdint>
#include <SDL2/SDL.h>
class Sound
{
public:
Sound();
~Sound();
void play();
void stop();
const double m_sineFreq;
const double m_sampleFreq;
const double m_samplesPerSine;
uint32_t m_samplePos;
private:
static void SDLAudioCallback(void *data, Uint8 *buffer, int length);
SDL_AudioDeviceID m_device;
};
Sound.cpp
#include "Sound.h"
#include <cmath>
#include <iostream>
Sound::Sound()
: m_sineFreq(1000),
m_sampleFreq(44100),
m_samplesPerSine(m_sampleFreq / m_sineFreq),
m_samplePos(0)
{
SDL_AudioSpec wantSpec, haveSpec;
SDL_zero(wantSpec);
wantSpec.freq = m_sampleFreq;
wantSpec.format = AUDIO_U8;
wantSpec.channels = 1;
wantSpec.samples = 2048;
wantSpec.callback = SDLAudioCallback;
wantSpec.userdata = this;
m_device = SDL_OpenAudioDevice(NULL, 0, &wantSpec, &haveSpec, SDL_AUDIO_ALLOW_FORMAT_CHANGE);
if (m_device == 0)
{
std::cout << "Failed to open audio: " << SDL_GetError() << std::endl;
}
}
Sound::~Sound()
{
SDL_CloseAudioDevice(m_device);
}
void Sound::play()
{
SDL_PauseAudioDevice(m_device, 0);
}
void Sound::stop()
{
SDL_PauseAudioDevice(m_device, 1);
}
void Sound::SDLAudioCallback(void *data, Uint8 *buffer, int length)
{
Sound *sound = reinterpret_cast<Sound*>(data);
for(int i = 0; i < length; ++i)
{
buffer[i] = (std::sin(sound->m_samplePos / sound->m_samplesPerSine * M_PI * 2) + 1) * 127.5;
++sound->m_samplePos;
}
}
I have noted that the cascades trained with the program opencv_traincascade does not run with the current version of opencv_performance. I've tried to convert the old performance cpp file to load the new types of cascades, but without success. The code is here:
#include "cv.h"
#include "highgui.h"
#include <cstdio>
#include <cmath>
#include <ctime>
#include <math.h>
#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#ifndef PATH_MAX
#define PATH_MAX 512
#endif /* PATH_MAX */
/*typedef struct HidCascade {
int size;
int count;
} HidCascade;
*/
typedef struct ObjectPos {
float x;
float y;
float width;
int found; /* for reference */
int neghbors;
} ObjectPos;
using namespace std;
using namespace cv;
int main(int argc, char* argv[]) {
int i, j;
char* classifierdir = NULL;
//char* samplesdir = NULL;
int saveDetected = 1;
double scale_factor = 1.1;
float maxSizeDiff = 1.5F;
float maxPosDiff = 1.1F;
/* number of stages. if <=0 all stages are used */
//int nos = -1, nos0;
int width = 25;
int height = 15;
int rocsize;
FILE* info;
FILE* resultados;
char* infoname;
char fullname[PATH_MAX];
//char detfilename[PATH_MAX];
char* filename;
//char detname[] = "det-";
CascadeClassifier cascade;
double totaltime;
if (!(resultados = fopen("resultados.txt", "w"))) {
printf("Cannot create results file.\n");
exit(-1);
}
infoname = (char*) "";
rocsize = 20;
if (argc == 1) {
printf("Usage: %s\n -data <classifier_directory_name>\n"
" -info <collection_file_name>\n"
" [-maxSizeDiff <max_size_difference = %f>]\n"
" [-maxPosDiff <max_position_difference = %f>]\n"
" [-sf <scale_factor = %f>]\n"
" [-ni]\n"
" [-rs <roc_size = %d>]\n"
" [-w <sample_width = %d>]\n"
" [-h <sample_height = %d>]\n", argv[0], maxSizeDiff,
maxPosDiff, scale_factor, rocsize, width, height);
return 0;
}
for (i = 1; i < argc; i++) {
if (!strcmp(argv[i], "-data")) {
classifierdir = argv[++i];
} else if (!strcmp(argv[i], "-info")) {
infoname = argv[++i];
} else if (!strcmp(argv[i], "-maxSizeDiff")) {
maxSizeDiff = (float) atof(argv[++i]);
} else if (!strcmp(argv[i], "-maxPosDiff")) {
maxPosDiff = (float) atof(argv[++i]);
} else if (!strcmp(argv[i], "-sf")) {
scale_factor = atof(argv[++i]);
} else if (!strcmp(argv[i], "-ni")) {
saveDetected = 0;
} else if (!strcmp(argv[i], "-rs")) {
rocsize = atoi(argv[++i]);
} else if (!strcmp(argv[i], "-w")) {
width = atoi(argv[++i]);
} else if (!strcmp(argv[i], "-h")) {
height = atoi(argv[++i]);
}
}
if (!cascade.load(classifierdir)) {
printf("Unable to load classifier from %s\n", classifierdir);
return 1;
}
strcpy(fullname, infoname);
filename = strrchr(fullname, '\\');
if (filename == NULL) {
filename = strrchr(fullname, '/');
}
if (filename == NULL) {
filename = fullname;
} else {
filename++;
}
info = fopen(infoname, "r");
totaltime = 0.0;
if (info != NULL) {
int x, y, width, height;
Mat img;
int hits, missed, falseAlarms;
int totalHits, totalMissed, totalFalseAlarms;
int found;
float distance;
int refcount;
ObjectPos* ref;
int detcount;
ObjectPos* det;
int error = 0;
int* pos;
int* neg;
pos = (int*) cvAlloc(rocsize * sizeof(*pos));
neg = (int*) cvAlloc(rocsize * sizeof(*neg));
for (i = 0; i < rocsize; i++) {
pos[i] = neg[i] = 0;
}
printf("+================================+======+======+======+\n");
printf("| File Name | Hits |Missed| False|\n");
printf("+================================+======+======+======+\n");
fprintf(resultados,
"+================================+======+======+======+\n");
fprintf(resultados,
"| File Name | Hits |Missed| False|\n");
fprintf(resultados,
"+================================+======+======+======+\n");
//fprintf (resultados, "%d\n",framesCnt);
totalHits = totalMissed = totalFalseAlarms = 0;
while (!feof(info)) {
fscanf(info, "%s %d", filename, &refcount);
img = imread(fullname);
if (!img.data) {
cout << "ow" << endl;
return -1;
}
ref = (ObjectPos*) cvAlloc(refcount * sizeof(*ref));
for (i = 0; i < refcount; i++) {
error = (fscanf(info, "%d %d %d %d", &x, &y, &width, &height)
!= 4);
if (error)
break;
ref[i].x = 0.5F * width + x;
ref[i].y = 0.5F * height + y;
ref[i].width = sqrt(0.5F * (width * width + height * height));
ref[i].found = 0;
ref[i].neghbors = 0; //in the new cascade, where to get the neighbors?
}
vector<Rect> obj_detectados;
Rect retang;
if (!error) {
totaltime -= time(0);
cascade.detectMultiScale(img, obj_detectados, scale_factor, 4, 0
//|CV_HAAR_FIND_BIGGEST_OBJECT
// |CV_HAAR_DO_ROUGH_SEARCH
| CV_HAAR_SCALE_IMAGE, Size(25, 15));
totaltime += time(0);
if (obj_detectados.size() == 0) {
detcount = 0;
} else {
detcount = obj_detectados.size();
}
det = (detcount > 0) ?
((ObjectPos*) cvAlloc(detcount * sizeof(*det))) : NULL;
hits = missed = falseAlarms = 0;
for (vector<Rect>::const_iterator r = obj_detectados.begin();
r != obj_detectados.end(); r++, i++) {
Point r1, r2;
r1.x = (r->x);
r1.y = (r->y);
r2.x = (r->x + r->width);
r2.y = (r->y + r->height);
retang.x = r1.x;
retang.y = r1.y;
retang.width = abs(r2.x - r1.x);
retang.height = abs(r2.y - r1.y);
if (saveDetected) {
rectangle(img, retang, Scalar(0, 0, 255), 3, CV_AA);
}
det[i].x = 0.5F*r->width + r->x;
det[i].y = 0.5F*r->height + r->y;
det[i].width = sqrt(0.5F * (r->width * r->width
+ r->height * r->height));
det[i].neghbors = 1; // i don't know if it will work...
// det[i].neghbors = r.neighbors; --- how to do it in the new version??
found = 0;
for (j = 0; j < refcount; j++) {
distance = sqrtf( (det[i].x - ref[j].x) * (det[i].x - ref[j].x) +
(det[i].y - ref[j].y) * (det[i].y - ref[j].y) );
//cout << distance << endl;
if( (distance < ref[j].width * maxPosDiff) &&
(det[i].width > ref[j].width / maxSizeDiff) &&
(det[i].width < ref[j].width * maxSizeDiff) )
{
ref[j].found = 1;
ref[j].neghbors = MAX( ref[j].neghbors, det[i].neghbors );
found = 1;
}
}
if (!found) {
falseAlarms++;
neg[MIN(det[i].neghbors, rocsize - 1)]++;
//neg[MIN(0, rocsize - 1)]++;
}
}
//imshow("teste", img);
if (saveDetected) {
//strcpy(detfilename, detname);
//strcat(detfilename, filename);
//strcpy(filename, detfilename);
imwrite(fullname, img);
//cvvSaveImage(fullname, img);
}
for (j = 0; j < refcount; j++) {
if (ref[j].found) {
hits++;
//pos[MIN(0, rocsize - 1)]++;
pos[MIN(ref[j].neghbors, rocsize - 1)]++;
} else {
missed++;
}
}
totalHits += hits;
totalMissed += missed;
totalFalseAlarms += falseAlarms;
printf("|%32.64s|%6d|%6d|%6d|\n", filename, hits, missed,
falseAlarms);
//printf("+--------------------------------+------+------+------+\n");
fprintf(resultados, "|%32.64s|%6d|%6d|%6d|\n", filename, hits,
missed, falseAlarms);
//fprintf(resultados,
// "+--------------------------------+------+------+------+\n");
fflush(stdout);
if (det) {
cvFree( &det);
det = NULL;
}
} /* if( !error ) */
//char c = (char) waitKey(10);
// if (c == 27)
// exit(0);
cvFree( &ref);
}
fclose(info);
printf("|%32.32s|%6d|%6d|%6d|\n", "Total", totalHits, totalMissed,
totalFalseAlarms);
fprintf(resultados, "|%32.32s|%6d|%6d|%6d|\n", "Total", totalHits,
totalMissed, totalFalseAlarms);
printf("+================================+======+======+======+\n");
fprintf(resultados,
"+================================+======+======+======+\n");
//printf("Number of stages: %d\n", nos);
//printf("Number of weak classifiers: %d\n", numclassifiers[nos - 1]);
printf("Total time: %f\n", totaltime);
fprintf(resultados, "Total time: %f\n", totaltime);
/* print ROC to stdout */
for (i = rocsize - 1; i > 0; i--) {
pos[i - 1] += pos[i];
neg[i - 1] += neg[i];
}
//fprintf(stderr, "%d\n", nos);
for (i = 0; i < rocsize; i++) {
fprintf(stderr, "\t%d\t%d\t%f\t%f\n", pos[i], neg[i],
((float) pos[i]) / (totalHits + totalMissed),
((float) neg[i]) / (totalHits + totalMissed));
}
cvFree( &pos);
cvFree( &neg);
}
return 0;
}
My doubt is about the det[i].neghbors = r.neighbors; in the old performance.cpp. How I retrieve the neighbors in this new version?
Anyone could help me to convert opencv_performance to run the new cascades from opencv_traincascade?
Many thanks!