Justin Carr / theRobot

nav fixed

Dependencies:   Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos

Fork of theRobot by Thomas Ashworth

ShapeDetect.cpp@22:072dabdf905a, 2014-04-11 (annotated)

Committer:
jjcarr2
Date:
Fri Apr 11 20:56:52 2014 +0000
Revision:
22:072dabdf905a
Parent:
20:55dcff40c5d9 
cleaned up navigation;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tashworth 0:1b64a0cedc5d 1 #include "mbed.h"
tashworth 0:1b64a0cedc5d 2 #include "ShapeDetect.h"
tashworth 0:1b64a0cedc5d 3
tashworth 0:1b64a0cedc5d 4 LocalFileSystem local("local");
tashworth 6:75259c3306dd 5 Serial lrf(p13,p14); //LaserRangeFinder Camera
tashworth 0:1b64a0cedc5d 6 extern Serial pc;
tashworth 0:1b64a0cedc5d 7
tashworth 0:1b64a0cedc5d 8
tashworth 0:1b64a0cedc5d 9 /* variables used */
tashworth 6:75259c3306dd 10
tashworth 6:75259c3306dd 11 //IMAGE PROCESSING
tashworth 6:75259c3306dd 12 unsigned char image[120][160]; //image array
tashworth 6:75259c3306dd 13 unsigned char pixel;
tashworth 6:75259c3306dd 14
tashworth 0:1b64a0cedc5d 15 char lrfchar=0;
tashworth 0:1b64a0cedc5d 16 unsigned int s_pixel[8];
tashworth 0:1b64a0cedc5d 17 int num_edges = 0, i=0, j=0;
tashworth 0:1b64a0cedc5d 18 int mm_range=0;
tashworth 0:1b64a0cedc5d 19
tashworth 0:1b64a0cedc5d 20 int s_pixel_sum = 0;
tashworth 0:1b64a0cedc5d 21 char min;
tashworth 0:1b64a0cedc5d 22 char max;
tashworth 0:1b64a0cedc5d 23
tashworth 0:1b64a0cedc5d 24 int xcoord_val;
tashworth 0:1b64a0cedc5d 25 int ycoord_val;
tashworth 0:1b64a0cedc5d 26 int s_area_val;
tashworth 0:1b64a0cedc5d 27
tashworth 0:1b64a0cedc5d 28
tashworth 0:1b64a0cedc5d 29 /**********************************************
tashworth 0:1b64a0cedc5d 30 *
tashworth 0:1b64a0cedc5d 31 * Initializes the LRF
tashworth 0:1b64a0cedc5d 32 *
tashworth 0:1b64a0cedc5d 33 ***********************************************/
tashworth 0:1b64a0cedc5d 34
tashworth 0:1b64a0cedc5d 35 void lrf_baudCalibration(void){
tashworth 0:1b64a0cedc5d 36 wait(2.5);
tashworth 17:a5bb85ee205d 37 lrf.baud(115200);
tashworth 0:1b64a0cedc5d 38 do {
tashworth 0:1b64a0cedc5d 39 lrf.putc('U');
tashworth 0:1b64a0cedc5d 40 pc.putc('.');
tashworth 0:1b64a0cedc5d 41 wait(.2);
tashworth 0:1b64a0cedc5d 42 if (lrf.readable()) lrfchar = lrf.getc();
tashworth 0:1b64a0cedc5d 43 } while (lrfchar != ':');
tashworth 0:1b64a0cedc5d 44 pc.printf("\n\r");
tashworth 0:1b64a0cedc5d 45 // clear out any extra characters - just in case
tashworth 0:1b64a0cedc5d 46 while (lrf.readable()) {
tashworth 0:1b64a0cedc5d 47 lrfchar = lrf.getc();
tashworth 0:1b64a0cedc5d 48 }
tashworth 0:1b64a0cedc5d 49 }
tashworth 0:1b64a0cedc5d 50
tashworth 0:1b64a0cedc5d 51
tashworth 0:1b64a0cedc5d 52
tashworth 0:1b64a0cedc5d 53 /**********************************************
tashworth 0:1b64a0cedc5d 54 * Turns all pixels to a value and stores in
tashworth 0:1b64a0cedc5d 55 * image array
tashworth 0:1b64a0cedc5d 56 *
tashworth 0:1b64a0cedc5d 57 * input arrayType_a:
tashworth 0:1b64a0cedc5d 58 * 1 = BINARY ( 1 or 0 )
tashworth 0:1b64a0cedc5d 59 * 2 = GREYSCALE (greyscale value 0x00 to 0xFF)
tashworth 0:1b64a0cedc5d 60 *
tashworth 0:1b64a0cedc5d 61 ***********************************************/
tashworth 0:1b64a0cedc5d 62 void ImageToArray(int arrayType_a){
tashworth 0:1b64a0cedc5d 63 lrf.putc('G');
tashworth 13:529323807361 64 pc.printf("Capturing Image\n\r");
tashworth 0:1b64a0cedc5d 65 // Fill the data with values
tashworth 0:1b64a0cedc5d 66 switch(arrayType_a){
tashworth 0:1b64a0cedc5d 67
tashworth 0:1b64a0cedc5d 68 case 1:
tashworth 0:1b64a0cedc5d 69 for(int i=0; i<120; i++){
tashworth 0:1b64a0cedc5d 70 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 71 pixel = lrf.getc();
tashworth 0:1b64a0cedc5d 72 if (pixel < THRESHOLD){
tashworth 0:1b64a0cedc5d 73 image[i][j] = 1;
tashworth 0:1b64a0cedc5d 74 } else {image[i][j] = 0;}
tashworth 0:1b64a0cedc5d 75 }// end j for loop
tashworth 0:1b64a0cedc5d 76 }// end i for loop
tashworth 0:1b64a0cedc5d 77 break;
tashworth 0:1b64a0cedc5d 78
tashworth 0:1b64a0cedc5d 79 case 2:
tashworth 0:1b64a0cedc5d 80 for(int i=0; i<120; i++){
tashworth 0:1b64a0cedc5d 81 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 82 image[i][j] = lrf.getc();
tashworth 0:1b64a0cedc5d 83 }// j
tashworth 0:1b64a0cedc5d 84 }// i
tashworth 0:1b64a0cedc5d 85 break;
tashworth 0:1b64a0cedc5d 86
tashworth 0:1b64a0cedc5d 87 default:
tashworth 0:1b64a0cedc5d 88 for(int i=0; i<120; i++){
tashworth 0:1b64a0cedc5d 89 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 90 pixel = lrf.getc();
tashworth 0:1b64a0cedc5d 91 if (pixel < THRESHOLD){
tashworth 0:1b64a0cedc5d 92 image[i][j] = 1;
tashworth 0:1b64a0cedc5d 93 } else {image[i][j] = 0;}
tashworth 0:1b64a0cedc5d 94 }// j
tashworth 0:1b64a0cedc5d 95 }// i
tashworth 0:1b64a0cedc5d 96 }//switch
tashworth 0:1b64a0cedc5d 97 }
tashworth 0:1b64a0cedc5d 98
tashworth 0:1b64a0cedc5d 99
tashworth 0:1b64a0cedc5d 100 /***************************************************
tashworth 0:1b64a0cedc5d 101 * prints 160x120 image array to files (.txt & .dat)
tashworth 0:1b64a0cedc5d 102 *
tashworth 0:1b64a0cedc5d 103 * stores on the mbed locally
tashworth 0:1b64a0cedc5d 104 *
tashworth 0:1b64a0cedc5d 105 * input arrayType_f:
tashworth 0:1b64a0cedc5d 106 * 1 = BINARY (1 or 0)
tashworth 0:1b64a0cedc5d 107 * 2 = GREYSCALE (greyscale value 0x00 to 0xFF)
tashworth 0:1b64a0cedc5d 108 * 3 = DECIMAL (greyscale value 0 - 255)
tashworth 0:1b64a0cedc5d 109 *
tashworth 0:1b64a0cedc5d 110 ****************************************************/
tashworth 0:1b64a0cedc5d 111
tashworth 0:1b64a0cedc5d 112
tashworth 0:1b64a0cedc5d 113 void printImageToFile(int arrayType_f){
tashworth 0:1b64a0cedc5d 114
tashworth 0:1b64a0cedc5d 115 // Write to local files
tashworth 0:1b64a0cedc5d 116 FILE *fp = fopen("/local/image.dat", "w");
tashworth 0:1b64a0cedc5d 117 FILE *fp2 = fopen("/local/image.txt", "w");
tashworth 0:1b64a0cedc5d 118
tashworth 0:1b64a0cedc5d 119 for (int i=0; i<120; i++) {
tashworth 0:1b64a0cedc5d 120 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 121 switch (arrayType_f){
tashworth 0:1b64a0cedc5d 122
tashworth 0:1b64a0cedc5d 123 //BINARY OUTPUT
tashworth 0:1b64a0cedc5d 124 case 1:
tashworth 0:1b64a0cedc5d 125 fprintf(fp, "%d",image[i][j]);
tashworth 0:1b64a0cedc5d 126 fprintf(fp2, "%d",image[i][j]);
tashworth 0:1b64a0cedc5d 127 break;
tashworth 0:1b64a0cedc5d 128
tashworth 0:1b64a0cedc5d 129 //GREYSCALE OUTPUT 00 to FF
tashworth 0:1b64a0cedc5d 130 case 2:
tashworth 0:1b64a0cedc5d 131 fprintf(fp, "%02X ",image[i][j]);
tashworth 0:1b64a0cedc5d 132 fprintf(fp2, "%02X ",image[i][j]);
tashworth 0:1b64a0cedc5d 133 break;
tashworth 0:1b64a0cedc5d 134
tashworth 0:1b64a0cedc5d 135 //DECIMAL OUTPUT
tashworth 0:1b64a0cedc5d 136 case 3:
tashworth 0:1b64a0cedc5d 137 fprintf(fp, "%3d ",image[i][j]);
tashworth 0:1b64a0cedc5d 138 fprintf(fp2, "%3d ",image[i][j]);
tashworth 0:1b64a0cedc5d 139 break;
tashworth 0:1b64a0cedc5d 140
tashworth 0:1b64a0cedc5d 141 default:
tashworth 0:1b64a0cedc5d 142 fprintf(fp, "%02h",image[i][j]);
tashworth 0:1b64a0cedc5d 143 fprintf(fp2, "%02h",image[i][j]);
tashworth 0:1b64a0cedc5d 144 break;
tashworth 0:1b64a0cedc5d 145 }
tashworth 0:1b64a0cedc5d 146 }
tashworth 0:1b64a0cedc5d 147 fprintf(fp, "\n");
tashworth 0:1b64a0cedc5d 148 fprintf(fp2, "\n");
tashworth 0:1b64a0cedc5d 149 }
tashworth 0:1b64a0cedc5d 150 fclose(fp);
tashworth 0:1b64a0cedc5d 151 }
tashworth 0:1b64a0cedc5d 152
tashworth 0:1b64a0cedc5d 153
tashworth 0:1b64a0cedc5d 154 /**********************************************
tashworth 0:1b64a0cedc5d 155 * edgeDetection
tashworth 0:1b64a0cedc5d 156 *
tashworth 0:1b64a0cedc5d 157 * outputs the number of edges detected
tashworth 0:1b64a0cedc5d 158 *
tashworth 0:1b64a0cedc5d 159 *
tashworth 0:1b64a0cedc5d 160 ***********************************************/
tashworth 0:1b64a0cedc5d 161 int edgeDetection(void){
tashworth 0:1b64a0cedc5d 162
tashworth 0:1b64a0cedc5d 163 ImageToArray(BINARY);
tashworth 0:1b64a0cedc5d 164
tashworth 0:1b64a0cedc5d 165 for(int i=0; i<120; i++){
tashworth 0:1b64a0cedc5d 166 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 167 s_pixel_sum = 0;
tashworth 0:1b64a0cedc5d 168 //stores the value of 8 surrounding pixels
tashworth 0:1b64a0cedc5d 169 s_pixel[0] = image[i-1][j-1];
tashworth 0:1b64a0cedc5d 170 s_pixel[1] = image[i-1][j];
tashworth 0:1b64a0cedc5d 171 s_pixel[2] = image[i-1][j+1];
tashworth 0:1b64a0cedc5d 172 s_pixel[3] = image[i][j-1];
tashworth 0:1b64a0cedc5d 173 s_pixel[4] = image[i][j+1];
tashworth 0:1b64a0cedc5d 174 s_pixel[5] = image[i+1][j-1];
tashworth 0:1b64a0cedc5d 175 s_pixel[6] = image[i+1][j];
tashworth 0:1b64a0cedc5d 176 s_pixel[7] = image[i+1][j+1];
tashworth 0:1b64a0cedc5d 177
tashworth 0:1b64a0cedc5d 178 //get the sum of the pixels
tashworth 0:1b64a0cedc5d 179 for (int k=0; k<8; k++){
tashworth 0:1b64a0cedc5d 180 s_pixel_sum+=s_pixel[k];
tashworth 0:1b64a0cedc5d 181 }
tashworth 0:1b64a0cedc5d 182
tashworth 0:1b64a0cedc5d 183 if ((s_pixel_sum < 5) && (s_pixel_sum > 2)) {
tashworth 0:1b64a0cedc5d 184 image[i][j] = 1;
tashworth 0:1b64a0cedc5d 185 } else {
tashworth 0:1b64a0cedc5d 186 image[i][j] = 0;
tashworth 0:1b64a0cedc5d 187 }
tashworth 0:1b64a0cedc5d 188
tashworth 0:1b64a0cedc5d 189
tashworth 0:1b64a0cedc5d 190 }// for j for loop
tashworth 0:1b64a0cedc5d 191 }// end i for loop
tashworth 0:1b64a0cedc5d 192 //fill image array with buffer values
tashworth 0:1b64a0cedc5d 193
tashworth 0:1b64a0cedc5d 194
tashworth 0:1b64a0cedc5d 195
tashworth 0:1b64a0cedc5d 196 /// DO EDGE CALCULATION HERE
tashworth 0:1b64a0cedc5d 197 return num_edges;
tashworth 0:1b64a0cedc5d 198 } // end function
tashworth 0:1b64a0cedc5d 199
tashworth 0:1b64a0cedc5d 200
tashworth 0:1b64a0cedc5d 201
tashworth 0:1b64a0cedc5d 202 /**********************************************
tashworth 0:1b64a0cedc5d 203 * center of mass coordinates
tashworth 0:1b64a0cedc5d 204 *
tashworth 0:1b64a0cedc5d 205 * outputs the coordinmates
tashworth 0:1b64a0cedc5d 206 *
tashworth 0:1b64a0cedc5d 207 ***********************************************/
tashworth 0:1b64a0cedc5d 208
tashworth 0:1b64a0cedc5d 209 void centerMass(int *xcoord, int *ycoord, int *s_area){
tashworth 0:1b64a0cedc5d 210 ImageToArray(BINARY);
tashworth 11:8d2455e383ce 211 //printImageToFile(BINARY);
tashworth 13:529323807361 212 clearBounds();
tashworth 0:1b64a0cedc5d 213 int count = 0;
tashworth 0:1b64a0cedc5d 214 int sumi = 0;
tashworth 0:1b64a0cedc5d 215 int sumj = 0;
tashworth 0:1b64a0cedc5d 216 for(int i=0; i<120; i++){
tashworth 0:1b64a0cedc5d 217 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 218 if(image[i][j] == 1){
tashworth 0:1b64a0cedc5d 219 sumi += i;
tashworth 0:1b64a0cedc5d 220 sumj += j;
tashworth 0:1b64a0cedc5d 221 count++;
tashworth 0:1b64a0cedc5d 222 }
tashworth 0:1b64a0cedc5d 223 }// j
tashworth 0:1b64a0cedc5d 224 }// i
tashworth 0:1b64a0cedc5d 225
tashworth 0:1b64a0cedc5d 226 int x_2coord = sumj / count;
tashworth 0:1b64a0cedc5d 227 int y_2coord = sumi / count;
tashworth 0:1b64a0cedc5d 228 *xcoord = x_2coord;
tashworth 0:1b64a0cedc5d 229 *ycoord = y_2coord;
tashworth 0:1b64a0cedc5d 230 image[x_2coord][x_2coord] = 8;
tashworth 0:1b64a0cedc5d 231
tashworth 0:1b64a0cedc5d 232 int s_2area = 0;
tashworth 0:1b64a0cedc5d 233 for(int i=0; i<120; i++){
tashworth 0:1b64a0cedc5d 234 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 235 if ( image[i][j] == 1 ){
tashworth 0:1b64a0cedc5d 236 s_2area++;
tashworth 0:1b64a0cedc5d 237 }
tashworth 0:1b64a0cedc5d 238
tashworth 0:1b64a0cedc5d 239 }// j
tashworth 0:1b64a0cedc5d 240 }// i
tashworth 0:1b64a0cedc5d 241 *s_area = s_2area;
tashworth 0:1b64a0cedc5d 242 }
tashworth 0:1b64a0cedc5d 243 /***********************************************
tashworth 0:1b64a0cedc5d 244 *
tashworth 0:1b64a0cedc5d 245 * clears edges for more accurate area counting
tashworth 0:1b64a0cedc5d 246 *
tashworth 0:1b64a0cedc5d 247 *
tashworth 0:1b64a0cedc5d 248 ************************************************/
tashworth 0:1b64a0cedc5d 249 void clearBounds(void){
tashworth 0:1b64a0cedc5d 250 //top 20 pixels
tashworth 12:284be46593ae 251 for(int i=0; i<5; i++){
tashworth 0:1b64a0cedc5d 252 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 253 image[i][j] = 0;
tashworth 0:1b64a0cedc5d 254
tashworth 0:1b64a0cedc5d 255 }// j
tashworth 0:1b64a0cedc5d 256 }// i
tashworth 0:1b64a0cedc5d 257
tashworth 0:1b64a0cedc5d 258 //bottom 20 pixels
tashworth 12:284be46593ae 259 for(int i=114; i<120; i++){
tashworth 0:1b64a0cedc5d 260 for(int j=0; j<160; j++){
tashworth 0:1b64a0cedc5d 261 image[i][j] = 0;
tashworth 0:1b64a0cedc5d 262 }// j
tashworth 0:1b64a0cedc5d 263 }// i
tashworth 0:1b64a0cedc5d 264 //left 20 pixels
tashworth 0:1b64a0cedc5d 265 for(int i=0; i<120; i++){
tashworth 12:284be46593ae 266 for(int j=0; j<20; j++){
tashworth 0:1b64a0cedc5d 267 image[i][j] = 0;
tashworth 0:1b64a0cedc5d 268 }// j
tashworth 0:1b64a0cedc5d 269 }// i
tashworth 0:1b64a0cedc5d 270 //right 20 pixels
tashworth 0:1b64a0cedc5d 271 for(int i=0; i<120; i++){
tashworth 12:284be46593ae 272 for(int j=139; j<160; j++){
tashworth 0:1b64a0cedc5d 273 image[i][j] = 0;
tashworth 0:1b64a0cedc5d 274 }// j
tashworth 0:1b64a0cedc5d 275 }// i
tashworth 0:1b64a0cedc5d 276 //clear bounds of detected blacks
tashworth 0:1b64a0cedc5d 277 }
tashworth 0:1b64a0cedc5d 278
tashworth 3:b7b4780a7f6e 279
tashworth 6:75259c3306dd 280 int shapeDetection(void)
tashworth 3:b7b4780a7f6e 281 {
tashworth 3:b7b4780a7f6e 282
tashworth 8:77a57909aa15 283 centerMass(&xcoord_val, &ycoord_val, &s_area_val);
tashworth 20:55dcff40c5d9 284
tashworth 3:b7b4780a7f6e 285 pc.printf("\ncentriod calculated\n\r");
tashworth 13:529323807361 286 pc.printf("Center of Mass is at X: %d Y: %d\n\r", xcoord_val, ycoord_val, s_area_val);
tashworth 13:529323807361 287 pc.printf("The area of the Mass is: %d\n\r", s_area_val);
tashworth 13:529323807361 288
tashworth 20:55dcff40c5d9 289 /*
tashworth 20:55dcff40c5d9 290 if( (s_area_val > SQUARE_AREA) ) {
tashworth 20:55dcff40c5d9 291 pc.printf("\nSQUARE DETECTECD\n\r");
tashworth 6:75259c3306dd 292 return 1;
tashworth 16:8bb212df81b7 293 }
tashworth 20:55dcff40c5d9 294 else if (s_area_val < TRIANGLE_AREA) {
tashworth 3:b7b4780a7f6e 295 pc.printf("\nTRIANGLE DETECTECD\n\r");
tashworth 6:75259c3306dd 296 return 2;
tashworth 3:b7b4780a7f6e 297 } else {
tashworth 3:b7b4780a7f6e 298 pc.printf("\nCIRCLE DETECTECD\n\r");
tashworth 6:75259c3306dd 299 return 3;
tashworth 0:1b64a0cedc5d 300 }
tashworth 20:55dcff40c5d9 301 */
tashworth 20:55dcff40c5d9 302
tashworth 20:55dcff40c5d9 303 return s_area_val;
tashworth 3:b7b4780a7f6e 304 }
tashworth 3:b7b4780a7f6e 305
tashworth 12:284be46593ae 306
tashworth 3:b7b4780a7f6e 307 int getDistance(void){
tashworth 0:1b64a0cedc5d 308 lrf.putc('B'); //Take Binary range reading
tashworth 0:1b64a0cedc5d 309 // read in the four bytes for the range in mm (MSB first)
tashworth 0:1b64a0cedc5d 310 mm_range=0;
tashworth 0:1b64a0cedc5d 311 mm_range=lrf.getc();
tashworth 0:1b64a0cedc5d 312 mm_range=(mm_range<<8)|lrf.getc();
tashworth 0:1b64a0cedc5d 313 mm_range=(mm_range<<8)|lrf.getc();
tashworth 0:1b64a0cedc5d 314 mm_range=(mm_range<<8)|lrf.getc();
tashworth 0:1b64a0cedc5d 315 //eat CR & ":" command prompt
tashworth 0:1b64a0cedc5d 316 do {
tashworth 0:1b64a0cedc5d 317 lrfchar=lrf.getc();
tashworth 0:1b64a0cedc5d 318 } while (lrfchar != ':');
tashworth 3:b7b4780a7f6e 319 return mm_range;
tashworth 0:1b64a0cedc5d 320 }
tashworth 3:b7b4780a7f6e 321
tashworth 6:75259c3306dd 322
tashworth 11:8d2455e383ce 323 int get_com_x(void)
tashworth 11:8d2455e383ce 324 {
tashworth 6:75259c3306dd 325
tashworth 11:8d2455e383ce 326 return xcoord_val;
tashworth 11:8d2455e383ce 327 }
tashworth 11:8d2455e383ce 328 int get_com_y(void)
tashworth 11:8d2455e383ce 329 {
tashworth 11:8d2455e383ce 330 return ycoord_val;
tashworth 11:8d2455e383ce 331 }
tashworth 11:8d2455e383ce 332
tashworth 11:8d2455e383ce 333 int get_com_a(void)
tashworth 11:8d2455e383ce 334 {
tashworth 11:8d2455e383ce 335 return s_area_val;
tashworth 11:8d2455e383ce 336 }
tashworth 11:8d2455e383ce 337
tashworth 15:78f5e937f6ab 338
tashworth 15:78f5e937f6ab 339 int rigDetectionImgProc(void){
tashworth 15:78f5e937f6ab 340
tashworth 15:78f5e937f6ab 341 ImageToArray(GREYSCALE);
tashworth 15:78f5e937f6ab 342 int count1 = 0;
tashworth 15:78f5e937f6ab 343 int count2 = 1;
tashworth 15:78f5e937f6ab 344
tashworth 15:78f5e937f6ab 345 //first rig
tashworth 15:78f5e937f6ab 346 for(int i=40; i<80; i++){
tashworth 15:78f5e937f6ab 347 for(int j=0; j<60; j++){
tashworth 15:78f5e937f6ab 348 if (image[i][j] < 128);
tashworth 15:78f5e937f6ab 349 count1++;
tashworth 15:78f5e937f6ab 350 }// j
tashworth 15:78f5e937f6ab 351 }// i
tashworth 15:78f5e937f6ab 352
tashworth 15:78f5e937f6ab 353 //second rig
tashworth 15:78f5e937f6ab 354 for(int i=0; i<120; i++){
tashworth 15:78f5e937f6ab 355 for(int j=139; j<160; j++){
tashworth 15:78f5e937f6ab 356 if (image[i][j] < 128);
tashworth 15:78f5e937f6ab 357 count2++;
tashworth 15:78f5e937f6ab 358 }// j
tashworth 15:78f5e937f6ab 359 }// i
tashworth 15:78f5e937f6ab 360
tashworth 15:78f5e937f6ab 361 if( (count1 < RIG_IP_THRESHOLD) && (count2 < RIG_IP_THRESHOLD) ){
tashworth 15:78f5e937f6ab 362 //no fire detected on forst two rigs
tashworth 15:78f5e937f6ab 363 return 3; // CIRCLE RIG
tashworth 15:78f5e937f6ab 364 } else if( count1 > RIG_1_IP_THRESHOLD ){
tashworth 15:78f5e937f6ab 365 return 1; //SQUARE RIG
tashworth 15:78f5e937f6ab 366 } else {
tashworth 15:78f5e937f6ab 367 return 2; //TRIANGLE RIG
tashworth 15:78f5e937f6ab 368 }
tashworth 15:78f5e937f6ab 369
tashworth 15:78f5e937f6ab 370 }