gr-peach-opencv-project - Opencv 3.1 project on GR-PEACH board

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Opencv 3.1 project on GR-PEACH board

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main.cpp@170:54ff26da7eb6, 2017-07-04 (annotated)

Committer:: thedo
Date:: Tue Jul 04 06:23:13 2017 +0000
Revision:: 170:54ff26da7eb6
Parent:: 169:bdaa9537e072

project opencv 3.1 on GR PEACH board, no use SD card.

Who changed what in which revision?

User	Revision	Line number	New contents of line
thedo	166:3a9487d57a5c	1	#include "mbed.h"
thedo	166:3a9487d57a5c	2	#include "DisplayBace.h"
thedo	166:3a9487d57a5c	3	#include "rtos.h"
thedo	166:3a9487d57a5c	4	#include "define.h"
thedo	166:3a9487d57a5c	5	#include "mStorage.hpp"
thedo	166:3a9487d57a5c	6
thedo	166:3a9487d57a5c	7	// Include for graphic
thedo	166:3a9487d57a5c	8	#include "graphicFramework/myImage.h"
thedo	166:3a9487d57a5c	9	#include "graphicFramework/mGraphic.hpp"
thedo	166:3a9487d57a5c	10
thedo	169:bdaa9537e072	11	// Define for store facial xml file
thedo	169:bdaa9537e072	12	#include "haar_cascade.h"
thedo	169:bdaa9537e072	13	#include "FATFileSystem.h"
thedo	169:bdaa9537e072	14	#include "HeapBlockDevice.h"
thedo	169:bdaa9537e072	15
thedo	166:3a9487d57a5c	16	// Include for opencv
thedo	166:3a9487d57a5c	17	#include "cProcess/cProcess.hpp"
thedo	166:3a9487d57a5c	18	#include "opencv_3_1/opencv2/core.hpp"
thedo	166:3a9487d57a5c	19	#include "opencv_3_1/opencv2/imgproc.hpp"
thedo	166:3a9487d57a5c	20	#include "opencv_3_1/opencv2/objdetect.hpp"
thedo	166:3a9487d57a5c	21	#include "opencv_3_1/opencv2/face.hpp"
thedo	166:3a9487d57a5c	22	using namespace cv;
thedo	166:3a9487d57a5c	23	using namespace face;
thedo	166:3a9487d57a5c	24
thedo	166:3a9487d57a5c	25	typedef struct {
thedo	166:3a9487d57a5c	26	int x;
thedo	166:3a9487d57a5c	27	int y;
thedo	166:3a9487d57a5c	28	int radius;
thedo	166:3a9487d57a5c	29	uint8_t color[2];
thedo	166:3a9487d57a5c	30	}mCircle;
thedo	166:3a9487d57a5c	31
thedo	166:3a9487d57a5c	32	typedef struct {
thedo	166:3a9487d57a5c	33	int x1;
thedo	166:3a9487d57a5c	34	int y1;
thedo	166:3a9487d57a5c	35	int x2;
thedo	166:3a9487d57a5c	36	int y2;
thedo	166:3a9487d57a5c	37	uint8_t color[2];
thedo	166:3a9487d57a5c	38	}mLine;
thedo	166:3a9487d57a5c	39
thedo	166:3a9487d57a5c	40	typedef struct {
thedo	166:3a9487d57a5c	41	vector<Mat> database_image;
thedo	166:3a9487d57a5c	42	vector<int> database_label;
thedo	166:3a9487d57a5c	43	}face_database_t;
thedo	166:3a9487d57a5c	44
thedo	166:3a9487d57a5c	45	typedef struct {
thedo	166:3a9487d57a5c	46	Rect obj;
thedo	166:3a9487d57a5c	47	int label;
thedo	166:3a9487d57a5c	48	}obj_detect_result;
thedo	166:3a9487d57a5c	49
thedo	166:3a9487d57a5c	50	typedef struct {
thedo	166:3a9487d57a5c	51	vector<mCircle> circles;
thedo	166:3a9487d57a5c	52	vector<mLine> lines;
thedo	166:3a9487d57a5c	53	vector<Point> contour;//only have max contour
thedo	166:3a9487d57a5c	54	}gesture_result;
thedo	166:3a9487d57a5c	55
thedo	166:3a9487d57a5c	56	typedef struct {
thedo	166:3a9487d57a5c	57	vector<Point> Pointstart;
thedo	166:3a9487d57a5c	58	vector<Point> Pointdepth;
thedo	166:3a9487d57a5c	59	vector<int> Pointindex;
thedo	166:3a9487d57a5c	60	int detecthand;
thedo	166:3a9487d57a5c	61	}ConvexPoint;
thedo	166:3a9487d57a5c	62
thedo	166:3a9487d57a5c	63	typedef struct
thedo	166:3a9487d57a5c	64	{
thedo	166:3a9487d57a5c	65	double hand_max;
thedo	166:3a9487d57a5c	66	double hand_min;
thedo	166:3a9487d57a5c	67	}Sampling;
thedo	166:3a9487d57a5c	68
thedo	166:3a9487d57a5c	69	/* Hardware */
thedo	166:3a9487d57a5c	70	static DisplayBase Display;
thedo	166:3a9487d57a5c	71	static DigitalOut lcd_pwon(P7_15);
thedo	166:3a9487d57a5c	72	static DigitalOut lcd_blon(P8_1);
thedo	166:3a9487d57a5c	73	static PwmOut lcd_cntrst(P8_15);
thedo	166:3a9487d57a5c	74	static Serial pc(USBTX, USBRX);
thedo	166:3a9487d57a5c	75	static TouckKey_LCD_shield touch(P4_0, P2_13, I2C_SDA, I2C_SCL);
thedo	166:3a9487d57a5c	76
thedo	166:3a9487d57a5c	77	/* Semaphore and mutex */
thedo	166:3a9487d57a5c	78	rtos::Mutex mMutexProcess;
thedo	166:3a9487d57a5c	79	rtos::Mutex mMutexObjects;
thedo	166:3a9487d57a5c	80	rtos::Mutex mMutexClicked;
thedo	166:3a9487d57a5c	81
thedo	166:3a9487d57a5c	82	static Semaphore semProcessThread(0);
thedo	166:3a9487d57a5c	83	static Semaphore semTouch(0);
thedo	166:3a9487d57a5c	84	static Semaphore semDrawAction(0);
thedo	166:3a9487d57a5c	85
thedo	166:3a9487d57a5c	86	/* Threads */
thedo	166:3a9487d57a5c	87	static Thread * p_VideoLcdTask = NULL;
thedo	166:3a9487d57a5c	88	static Thread * p_DrawObjects = NULL;
thedo	166:3a9487d57a5c	89	static Thread * p_Touch = NULL;
thedo	166:3a9487d57a5c	90
thedo	166:3a9487d57a5c	91	static cStorage *myStorage = NULL;
thedo	166:3a9487d57a5c	92	static vector<obj_detect_result> gObjectDetects;
thedo	166:3a9487d57a5c	93	static gesture_result gGestureResult;
thedo	166:3a9487d57a5c	94	static bool gIsProcessing = false;
thedo	166:3a9487d57a5c	95	static bool gIsDrawing = false;
thedo	166:3a9487d57a5c	96	static int write_buff_num = 0;
thedo	166:3a9487d57a5c	97	static int read_buff_num = 0;
thedo	166:3a9487d57a5c	98	static bool graphics_init_end = false;
thedo	166:3a9487d57a5c	99	static APP_MODE appMode = GUESTURE_RECOGNITION;
thedo	166:3a9487d57a5c	100	static CLICKED_CODE clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	101
thedo	166:3a9487d57a5c	102	/**** cache control ****/
thedo	166:3a9487d57a5c	103	static void dcache_clean(void * p_buf, uint32_t size) {
thedo	166:3a9487d57a5c	104	uint32_t start_addr = (uint32_t)p_buf & 0xFFFFFFE0;
thedo	166:3a9487d57a5c	105	uint32_t end_addr = (uint32_t)p_buf + size;
thedo	166:3a9487d57a5c	106	uint32_t addr;
thedo	166:3a9487d57a5c	107
thedo	166:3a9487d57a5c	108	/* Data cache clean */
thedo	166:3a9487d57a5c	109	for (addr = start_addr; addr < end_addr; addr += 0x20) {
thedo	166:3a9487d57a5c	110	__v7_clean_dcache_mva((void *)addr);
thedo	166:3a9487d57a5c	111	}
thedo	166:3a9487d57a5c	112	}
thedo	166:3a9487d57a5c	113
thedo	166:3a9487d57a5c	114	/**** LCD ****/
thedo	166:3a9487d57a5c	115	#if(0) /* When needing LCD Vsync interrupt, please make it effective. */
thedo	166:3a9487d57a5c	116	static void IntCallbackFunc_LoVsync(DisplayBase::int_type_t int_type) {
thedo	166:3a9487d57a5c	117	/* Interrupt callback function for Vsync interruption */
thedo	166:3a9487d57a5c	118	}
thedo	166:3a9487d57a5c	119	#endif
thedo	166:3a9487d57a5c	120
thedo	166:3a9487d57a5c	121	static void Init_LCD_Display(void) {
thedo	166:3a9487d57a5c	122	DisplayBase::graphics_error_t error;
thedo	166:3a9487d57a5c	123	DisplayBase::lcd_config_t lcd_config;
thedo	166:3a9487d57a5c	124	PinName lvds_pin[8] = {
thedo	166:3a9487d57a5c	125	/* data pin */
thedo	166:3a9487d57a5c	126	P5_7, P5_6, P5_5, P5_4, P5_3, P5_2, P5_1, P5_0
thedo	166:3a9487d57a5c	127	};
thedo	166:3a9487d57a5c	128
thedo	166:3a9487d57a5c	129	lcd_pwon = 0;
thedo	166:3a9487d57a5c	130	lcd_blon = 0;
thedo	166:3a9487d57a5c	131	Thread::wait(100);
thedo	166:3a9487d57a5c	132	lcd_pwon = 1;
thedo	166:3a9487d57a5c	133	lcd_blon = 1;
thedo	166:3a9487d57a5c	134
thedo	166:3a9487d57a5c	135	Display.Graphics_Lvds_Port_Init(lvds_pin, 8);
thedo	166:3a9487d57a5c	136
thedo	166:3a9487d57a5c	137	/* Graphics initialization process */
thedo	166:3a9487d57a5c	138	lcd_config = LcdCfgTbl_LCD_shield;
thedo	166:3a9487d57a5c	139	error = Display.Graphics_init(&lcd_config);
thedo	166:3a9487d57a5c	140	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	141	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	142	mbed_die();
thedo	166:3a9487d57a5c	143	}
thedo	166:3a9487d57a5c	144	graphics_init_end = true;
thedo	166:3a9487d57a5c	145
thedo	166:3a9487d57a5c	146	#if(0) /* When needing LCD Vsync interrupt, please make it effective. */
thedo	166:3a9487d57a5c	147	/* Interrupt callback function setting (Vsync signal output from scaler 0)*/
thedo	166:3a9487d57a5c	148	error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_LO_VSYNC,
thedo	166:3a9487d57a5c	149	0, IntCallbackFunc_LoVsync);
thedo	166:3a9487d57a5c	150	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	151	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	152	mbed_die();
thedo	166:3a9487d57a5c	153	}
thedo	166:3a9487d57a5c	154	#endif
thedo	166:3a9487d57a5c	155	}
thedo	166:3a9487d57a5c	156
thedo	166:3a9487d57a5c	157	static void Start_LCD_Display(uint8_t * p_buf) {
thedo	166:3a9487d57a5c	158	DisplayBase::rect_t rect;
thedo	166:3a9487d57a5c	159
thedo	166:3a9487d57a5c	160	rect.vs = 0;
thedo	166:3a9487d57a5c	161	rect.vw = LCD_PIXEL_HEIGHT;
thedo	166:3a9487d57a5c	162	rect.hs = 0;
thedo	166:3a9487d57a5c	163	rect.hw = LCD_PIXEL_WIDTH;
thedo	166:3a9487d57a5c	164	Display.Graphics_Read_Setting(
thedo	166:3a9487d57a5c	165	DisplayBase::GRAPHICS_LAYER_0,
thedo	166:3a9487d57a5c	166	(void *)p_buf,
thedo	166:3a9487d57a5c	167	FRAME_BUFFER_STRIDE,
thedo	166:3a9487d57a5c	168	GRAPHICS_FORMAT,
thedo	166:3a9487d57a5c	169	WR_RD_WRSWA,
thedo	166:3a9487d57a5c	170	&rect
thedo	166:3a9487d57a5c	171	);
thedo	166:3a9487d57a5c	172	Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_0);
thedo	166:3a9487d57a5c	173	}
thedo	166:3a9487d57a5c	174
thedo	166:3a9487d57a5c	175	/**** Video ****/
thedo	166:3a9487d57a5c	176	#if(0) /* When needing video Vsync interrupt, please make it effective. */
thedo	166:3a9487d57a5c	177	static void IntCallbackFunc_ViVsync(DisplayBase::int_type_t int_type) {
thedo	166:3a9487d57a5c	178	/* Interrupt callback function for Vsync interruption */
thedo	166:3a9487d57a5c	179	}
thedo	166:3a9487d57a5c	180	#endif
thedo	166:3a9487d57a5c	181
thedo	166:3a9487d57a5c	182	static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type) {
thedo	166:3a9487d57a5c	183	/* Interrupt callback function */
thedo	166:3a9487d57a5c	184	#if VIDEO_INPUT_METHOD == VIDEO_CVBS
thedo	166:3a9487d57a5c	185	if (vfield_count == 0) {
thedo	166:3a9487d57a5c	186	vfield_count = 1;
thedo	166:3a9487d57a5c	187	} else {
thedo	166:3a9487d57a5c	188	vfield_count = 0;
thedo	166:3a9487d57a5c	189	#else
thedo	166:3a9487d57a5c	190	{
thedo	166:3a9487d57a5c	191	#endif
thedo	166:3a9487d57a5c	192	if (p_VideoLcdTask != NULL) {
thedo	166:3a9487d57a5c	193	p_VideoLcdTask->signal_set(1);
thedo	166:3a9487d57a5c	194	}
thedo	166:3a9487d57a5c	195	}
thedo	166:3a9487d57a5c	196	}
thedo	166:3a9487d57a5c	197
thedo	166:3a9487d57a5c	198	static void Init_Video(void) {
thedo	166:3a9487d57a5c	199	DisplayBase::graphics_error_t error;
thedo	166:3a9487d57a5c	200
thedo	166:3a9487d57a5c	201	/* Graphics initialization process */
thedo	166:3a9487d57a5c	202	if (graphics_init_end == false) {
thedo	166:3a9487d57a5c	203	/* When not initializing LCD, this processing is needed. */
thedo	166:3a9487d57a5c	204	error = Display.Graphics_init(NULL);
thedo	166:3a9487d57a5c	205	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	206	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	207	mbed_die();
thedo	166:3a9487d57a5c	208	}
thedo	166:3a9487d57a5c	209	graphics_init_end = true;
thedo	166:3a9487d57a5c	210	}
thedo	166:3a9487d57a5c	211
thedo	166:3a9487d57a5c	212	#if VIDEO_INPUT_METHOD == VIDEO_CVBS
thedo	166:3a9487d57a5c	213	error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_VDEC, NULL);
thedo	166:3a9487d57a5c	214	if( error != DisplayBase::GRAPHICS_OK ) {
thedo	166:3a9487d57a5c	215	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	216	mbed_die();
thedo	166:3a9487d57a5c	217	}
thedo	166:3a9487d57a5c	218	#elif VIDEO_INPUT_METHOD == VIDEO_CMOS_CAMERA
thedo	166:3a9487d57a5c	219	DisplayBase::video_ext_in_config_t ext_in_config;
thedo	166:3a9487d57a5c	220	PinName cmos_camera_pin[11] = {
thedo	166:3a9487d57a5c	221	/* data pin */
thedo	166:3a9487d57a5c	222	P2_7, P2_6, P2_5, P2_4, P2_3, P2_2, P2_1, P2_0,
thedo	166:3a9487d57a5c	223	/* control pin */
thedo	166:3a9487d57a5c	224	P10_0, /* DV0_CLK */
thedo	166:3a9487d57a5c	225	P1_0, /* DV0_Vsync */
thedo	166:3a9487d57a5c	226	P1_1 /* DV0_Hsync */
thedo	166:3a9487d57a5c	227	};
thedo	166:3a9487d57a5c	228
thedo	166:3a9487d57a5c	229	/* MT9V111 camera input config */
thedo	166:3a9487d57a5c	230	ext_in_config.inp_format = DisplayBase::VIDEO_EXTIN_FORMAT_BT601; /* BT601 8bit YCbCr format */
thedo	166:3a9487d57a5c	231	ext_in_config.inp_pxd_edge = DisplayBase::EDGE_RISING; /* Clock edge select for capturing data */
thedo	166:3a9487d57a5c	232	ext_in_config.inp_vs_edge = DisplayBase::EDGE_RISING; /* Clock edge select for capturing Vsync signals */
thedo	166:3a9487d57a5c	233	ext_in_config.inp_hs_edge = DisplayBase::EDGE_RISING; /* Clock edge select for capturing Hsync signals */
thedo	166:3a9487d57a5c	234	ext_in_config.inp_endian_on = DisplayBase::OFF; /* External input bit endian change on/off */
thedo	166:3a9487d57a5c	235	ext_in_config.inp_swap_on = DisplayBase::OFF; /* External input B/R signal swap on/off */
thedo	166:3a9487d57a5c	236	ext_in_config.inp_vs_inv = DisplayBase::SIG_POL_NOT_INVERTED; /* External input DV_VSYNC inversion control */
thedo	166:3a9487d57a5c	237	ext_in_config.inp_hs_inv = DisplayBase::SIG_POL_INVERTED; /* External input DV_HSYNC inversion control */
thedo	166:3a9487d57a5c	238	ext_in_config.inp_f525_625 = DisplayBase::EXTIN_LINE_525; /* Number of lines for BT.656 external input */
thedo	166:3a9487d57a5c	239	ext_in_config.inp_h_pos = DisplayBase::EXTIN_H_POS_CRYCBY; /* Y/Cb/Y/Cr data string start timing to Hsync reference */
thedo	166:3a9487d57a5c	240	ext_in_config.cap_vs_pos = 6; /* Capture start position from Vsync */
thedo	166:3a9487d57a5c	241	ext_in_config.cap_hs_pos = 150; /* Capture start position form Hsync */
thedo	166:3a9487d57a5c	242	#if (LCD_TYPE == 0)
thedo	166:3a9487d57a5c	243	/* The same screen ratio as the screen ratio of the LCD. */
thedo	166:3a9487d57a5c	244	ext_in_config.cap_width = 640; /* Capture width */
thedo	166:3a9487d57a5c	245	ext_in_config.cap_height = 363; /* Capture height Max 468[line]
thedo	166:3a9487d57a5c	246	Due to CMOS(MT9V111) output signal timing and VDC5 specification */
thedo	166:3a9487d57a5c	247	#else
thedo	166:3a9487d57a5c	248	ext_in_config.cap_width = 640; /* Capture width */
thedo	166:3a9487d57a5c	249	ext_in_config.cap_height = 468; /* Capture height Max 468[line]
thedo	166:3a9487d57a5c	250	Due to CMOS(MT9V111) output signal timing and VDC5 specification */
thedo	166:3a9487d57a5c	251	#endif
thedo	166:3a9487d57a5c	252	error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_EXT, &ext_in_config);
thedo	166:3a9487d57a5c	253	if( error != DisplayBase::GRAPHICS_OK ) {
thedo	166:3a9487d57a5c	254	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	255	mbed_die();
thedo	166:3a9487d57a5c	256	}
thedo	166:3a9487d57a5c	257
thedo	166:3a9487d57a5c	258	/* Camera input port setting */
thedo	166:3a9487d57a5c	259	error = Display.Graphics_Dvinput_Port_Init(cmos_camera_pin, 11);
thedo	166:3a9487d57a5c	260	if( error != DisplayBase::GRAPHICS_OK ) {
thedo	166:3a9487d57a5c	261	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	262	mbed_die();
thedo	166:3a9487d57a5c	263	}
thedo	166:3a9487d57a5c	264	#endif
thedo	166:3a9487d57a5c	265
thedo	166:3a9487d57a5c	266	#if(0) /* When needing video Vsync interrupt, please make it effective. */
thedo	166:3a9487d57a5c	267	/* Interrupt callback function setting (Vsync signal input to scaler 0) */
thedo	166:3a9487d57a5c	268	error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VI_VSYNC,
thedo	166:3a9487d57a5c	269	0, IntCallbackFunc_ViVsync);
thedo	166:3a9487d57a5c	270	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	271	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	272	mbed_die();
thedo	166:3a9487d57a5c	273	}
thedo	166:3a9487d57a5c	274	#endif
thedo	166:3a9487d57a5c	275
thedo	166:3a9487d57a5c	276	/* Interrupt callback function setting (Field end signal for recording function in scaler 0) */
thedo	166:3a9487d57a5c	277	error = Display.Graphics_Irq_Handler_Set(VIDEO_INT_TYPE, 0,
thedo	166:3a9487d57a5c	278	IntCallbackFunc_Vfield);
thedo	166:3a9487d57a5c	279	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	280	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	281	mbed_die();
thedo	166:3a9487d57a5c	282	}
thedo	166:3a9487d57a5c	283	}
thedo	166:3a9487d57a5c	284
thedo	166:3a9487d57a5c	285	static void initDrawResultLayer(void)
thedo	166:3a9487d57a5c	286	{
thedo	166:3a9487d57a5c	287	DisplayBase::rect_t rect;
thedo	166:3a9487d57a5c	288	/* The layer by which the touch panel location is drawn */
thedo	166:3a9487d57a5c	289	memset(user_frame_buffer_draw, 0, sizeof(user_frame_buffer_draw));
thedo	166:3a9487d57a5c	290	dcache_clean(user_frame_buffer_draw, sizeof(user_frame_buffer_draw));
thedo	166:3a9487d57a5c	291	rect.vs = 0;
thedo	166:3a9487d57a5c	292	rect.vw = LCD_PIXEL_HEIGHT;
thedo	166:3a9487d57a5c	293	rect.hs = 0;
thedo	166:3a9487d57a5c	294	rect.hw = LCD_PIXEL_WIDTH;
thedo	166:3a9487d57a5c	295	Display.Graphics_Read_Setting(
thedo	166:3a9487d57a5c	296	DisplayBase::GRAPHICS_LAYER_1,
thedo	166:3a9487d57a5c	297	(void *)user_frame_buffer_draw,
thedo	166:3a9487d57a5c	298	DRAW_BUFFER_STRIDE,
thedo	166:3a9487d57a5c	299	DisplayBase::GRAPHICS_FORMAT_ARGB4444,
thedo	166:3a9487d57a5c	300	DisplayBase::WR_RD_WRSWA_32_16BIT,
thedo	166:3a9487d57a5c	301	&rect
thedo	166:3a9487d57a5c	302	);
thedo	166:3a9487d57a5c	303	Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_1);
thedo	166:3a9487d57a5c	304	}
thedo	166:3a9487d57a5c	305
thedo	166:3a9487d57a5c	306	void initDrawAction32(void)
thedo	166:3a9487d57a5c	307	{
thedo	166:3a9487d57a5c	308	// Init draw control
thedo	166:3a9487d57a5c	309	DisplayBase::rect_t rect;
thedo	166:3a9487d57a5c	310	rect.vs = 0;
thedo	166:3a9487d57a5c	311	rect.vw = LCD_PIXEL_HEIGHT;
thedo	166:3a9487d57a5c	312	rect.hs = 0;
thedo	166:3a9487d57a5c	313	rect.hw = LCD_PIXEL_WIDTH;
thedo	166:3a9487d57a5c	314
thedo	166:3a9487d57a5c	315	memset(user_buf_draw_action_888, 0,
thedo	166:3a9487d57a5c	316	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	317	/* Clean cache */
thedo	166:3a9487d57a5c	318	dcache_clean(user_buf_draw_action_888,
thedo	166:3a9487d57a5c	319	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	320
thedo	166:3a9487d57a5c	321	Display.Graphics_Read_Setting(
thedo	166:3a9487d57a5c	322	DisplayBase::GRAPHICS_LAYER_3,
thedo	166:3a9487d57a5c	323	(void *)user_buf_draw_action_888,
thedo	166:3a9487d57a5c	324	DRAW_BUFFER_STRIDE_LAYER_3,
thedo	166:3a9487d57a5c	325	DisplayBase::GRAPHICS_FORMAT_ARGB8888,
thedo	166:3a9487d57a5c	326	DisplayBase::WR_RD_WRSWA_32_16BIT,
thedo	166:3a9487d57a5c	327	&rect
thedo	166:3a9487d57a5c	328	);
thedo	166:3a9487d57a5c	329	Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_3);
thedo	166:3a9487d57a5c	330	}
thedo	166:3a9487d57a5c	331	static void initDrawButtonLayer(void)
thedo	166:3a9487d57a5c	332	{
thedo	166:3a9487d57a5c	333	DisplayBase::rect_t rect;
thedo	166:3a9487d57a5c	334	/* The layer by which the touch panel location is drawn */
thedo	166:3a9487d57a5c	335	memset(user_frame_buffer_draw_button, 0,
thedo	166:3a9487d57a5c	336	sizeof(user_frame_buffer_draw_button));
thedo	166:3a9487d57a5c	337	dcache_clean(user_frame_buffer_draw_button,
thedo	166:3a9487d57a5c	338	sizeof(user_frame_buffer_draw_button));
thedo	166:3a9487d57a5c	339	rect.vs = 0;
thedo	166:3a9487d57a5c	340	rect.vw = LCD_PIXEL_HEIGHT;
thedo	166:3a9487d57a5c	341	rect.hs = 0;
thedo	166:3a9487d57a5c	342	rect.hw = LCD_PIXEL_WIDTH;
thedo	166:3a9487d57a5c	343	Display.Graphics_Read_Setting(
thedo	166:3a9487d57a5c	344	DisplayBase::GRAPHICS_LAYER_2,
thedo	166:3a9487d57a5c	345	(void *)user_frame_buffer_draw_button,
thedo	166:3a9487d57a5c	346	DRAW_BUFFER_STRIDE,
thedo	166:3a9487d57a5c	347	DisplayBase::GRAPHICS_FORMAT_ARGB4444,
thedo	166:3a9487d57a5c	348	DisplayBase::WR_RD_WRSWA_32_16BIT,
thedo	166:3a9487d57a5c	349	&rect
thedo	166:3a9487d57a5c	350	);
thedo	166:3a9487d57a5c	351	Display.Graphics_Start(DisplayBase::GRAPHICS_LAYER_2);
thedo	166:3a9487d57a5c	352	}
thedo	166:3a9487d57a5c	353
thedo	166:3a9487d57a5c	354	static void Start_Video(uint8_t * p_buf) {
thedo	166:3a9487d57a5c	355	DisplayBase::graphics_error_t error;
thedo	166:3a9487d57a5c	356
thedo	166:3a9487d57a5c	357	/* Video capture setting (progressive form fixed) */
thedo	166:3a9487d57a5c	358	error = Display.Video_Write_Setting(
thedo	166:3a9487d57a5c	359	VIDEO_INPUT_CH,
thedo	166:3a9487d57a5c	360	COL_SYS,
thedo	166:3a9487d57a5c	361	p_buf,
thedo	166:3a9487d57a5c	362	FRAME_BUFFER_STRIDE,
thedo	166:3a9487d57a5c	363	VIDEO_FORMAT,
thedo	166:3a9487d57a5c	364	WR_RD_WRSWA,
thedo	166:3a9487d57a5c	365	VIDEO_PIXEL_VW,
thedo	166:3a9487d57a5c	366	VIDEO_PIXEL_HW
thedo	166:3a9487d57a5c	367	);
thedo	166:3a9487d57a5c	368	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	369	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	370	mbed_die();
thedo	166:3a9487d57a5c	371	}
thedo	166:3a9487d57a5c	372
thedo	166:3a9487d57a5c	373	/* Video write process start */
thedo	166:3a9487d57a5c	374	error = Display.Video_Start(VIDEO_INPUT_CH);
thedo	166:3a9487d57a5c	375	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	376	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	377	mbed_die();
thedo	166:3a9487d57a5c	378	}
thedo	166:3a9487d57a5c	379
thedo	166:3a9487d57a5c	380	/* Video write process stop */
thedo	166:3a9487d57a5c	381	error = Display.Video_Stop(VIDEO_INPUT_CH);
thedo	166:3a9487d57a5c	382	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	383	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	384	mbed_die();
thedo	166:3a9487d57a5c	385	}
thedo	166:3a9487d57a5c	386
thedo	166:3a9487d57a5c	387	/* Video write process start */
thedo	166:3a9487d57a5c	388	error = Display.Video_Start(VIDEO_INPUT_CH);
thedo	166:3a9487d57a5c	389	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	390	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	391	mbed_die();
thedo	166:3a9487d57a5c	392	}
thedo	166:3a9487d57a5c	393	}
thedo	166:3a9487d57a5c	394
thedo	166:3a9487d57a5c	395	/* Select function from button */
thedo	166:3a9487d57a5c	396	APP_MODE getFunctionSelected(int x, int y)
thedo	166:3a9487d57a5c	397	{
thedo	166:3a9487d57a5c	398	int w = 100; //width of image button
thedo	166:3a9487d57a5c	399	if ( MODE_BTN_Y > y )
thedo	166:3a9487d57a5c	400	{
thedo	166:3a9487d57a5c	401	return MODE_UNKNOWN;
thedo	166:3a9487d57a5c	402	}
thedo	166:3a9487d57a5c	403
thedo	166:3a9487d57a5c	404	if ( MODE_BTN_X <= x && x <= (MODE_BTN_X + w))
thedo	166:3a9487d57a5c	405	{
thedo	166:3a9487d57a5c	406	return FACE_DETECTION;
thedo	166:3a9487d57a5c	407	}
thedo	166:3a9487d57a5c	408	else if ( (2MODE_BTN_X + w) <= x && x <= (2MODE_BTN_X + 2*w))
thedo	166:3a9487d57a5c	409	{
thedo	166:3a9487d57a5c	410	return FACE_RECOGNITION;
thedo	166:3a9487d57a5c	411	}
thedo	166:3a9487d57a5c	412	else if ( (3MODE_BTN_X + 2w) <= x && x <= (3MODE_BTN_X + 3w) )
thedo	166:3a9487d57a5c	413	{
thedo	166:3a9487d57a5c	414	return MOTION_DETECTION;
thedo	166:3a9487d57a5c	415	}
thedo	166:3a9487d57a5c	416	else if ((4MODE_BTN_X + 3w) <= x && x <= (4MODE_BTN_X + 4w))
thedo	166:3a9487d57a5c	417	{
thedo	166:3a9487d57a5c	418	return GUESTURE_RECOGNITION;
thedo	166:3a9487d57a5c	419	}
thedo	166:3a9487d57a5c	420	else
thedo	166:3a9487d57a5c	421	return MODE_UNKNOWN;
thedo	166:3a9487d57a5c	422	}
thedo	166:3a9487d57a5c	423
thedo	166:3a9487d57a5c	424	/* Click action in face recognition */
thedo	166:3a9487d57a5c	425	void clickActionFaceReg(int x, int y)
thedo	166:3a9487d57a5c	426	{
thedo	166:3a9487d57a5c	427	mMutexClicked.lock();
thedo	166:3a9487d57a5c	428	if(REGIS_FACE_BTN_X <= x && x <= (REGIS_FACE_BTN_X + 30) &&
thedo	166:3a9487d57a5c	429	REGIS_FACE_BTN_Y <= y && y <= (REGIS_FACE_BTN_Y + 30))
thedo	166:3a9487d57a5c	430	{
thedo	166:3a9487d57a5c	431	clickedCode = CLICKED_REGIS_FACE;
thedo	166:3a9487d57a5c	432	}
thedo	166:3a9487d57a5c	433	else if (FACE_REG_ACT_MENU_X <= x && x <= (FACE_REG_ACT_MENU_X + 60) &&
thedo	166:3a9487d57a5c	434	FACE_REG_ACT_MENU_Y <= y && y <= (FACE_REG_ACT_MENU_Y + 20))
thedo	166:3a9487d57a5c	435	{
thedo	166:3a9487d57a5c	436	clickedCode = CLICKED_CHANGE_ID;
thedo	166:3a9487d57a5c	437	}
thedo	166:3a9487d57a5c	438	else if (FACE_REG_ACT_MENU_X <= x && x <= (FACE_REG_ACT_MENU_X + 60) &&
thedo	166:3a9487d57a5c	439	(FACE_REG_ACT_MENU_Y + 20 + 12)<= y &&
thedo	166:3a9487d57a5c	440	y <= (FACE_REG_ACT_MENU_Y + 2*20 + 12))//space:12
thedo	166:3a9487d57a5c	441	{
thedo	166:3a9487d57a5c	442	clickedCode = CLICKED_ADD;
thedo	166:3a9487d57a5c	443	}
thedo	166:3a9487d57a5c	444	else if (FACE_REG_ACT_MENU_X <= x && x <= (FACE_REG_ACT_MENU_X + 60) &&
thedo	166:3a9487d57a5c	445	(FACE_REG_ACT_MENU_Y + 220 + 212)<= y &&
thedo	166:3a9487d57a5c	446	y <= (FACE_REG_ACT_MENU_Y + 320 + 212))
thedo	166:3a9487d57a5c	447	{
thedo	166:3a9487d57a5c	448	clickedCode = CLICKED_IGNORE;
thedo	166:3a9487d57a5c	449	}
thedo	166:3a9487d57a5c	450	else
thedo	166:3a9487d57a5c	451	{
thedo	166:3a9487d57a5c	452	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	453	}
thedo	166:3a9487d57a5c	454	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	455	}
thedo	166:3a9487d57a5c	456
thedo	166:3a9487d57a5c	457	/* Click on screen gesture recognition */
thedo	166:3a9487d57a5c	458	void clickActionGestureReg(int x, int y)
thedo	166:3a9487d57a5c	459	{
thedo	166:3a9487d57a5c	460	mMutexClicked.lock();
thedo	166:3a9487d57a5c	461	if(GESTURE_SAMPLING_BTN_X <= x && x <= (GESTURE_SAMPLING_BTN_X + 60) &&
thedo	166:3a9487d57a5c	462	GESTURE_SAMPLING_BTN_Y <= y && y <= (GESTURE_SAMPLING_BTN_Y + 20))
thedo	166:3a9487d57a5c	463	{
thedo	166:3a9487d57a5c	464	clickedCode = CLICKED_HAND_SAMPLING;
thedo	166:3a9487d57a5c	465	}
thedo	166:3a9487d57a5c	466	else
thedo	166:3a9487d57a5c	467	{
thedo	166:3a9487d57a5c	468	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	469	}
thedo	166:3a9487d57a5c	470	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	471	}
thedo	166:3a9487d57a5c	472
thedo	166:3a9487d57a5c	473	/** Draw button controls **/
thedo	166:3a9487d57a5c	474	void drawButtonControls(graphicFrameworkCanvas myCanvasButton)
thedo	166:3a9487d57a5c	475	{
thedo	166:3a9487d57a5c	476	int space = 16;
thedo	166:3a9487d57a5c	477	int x = 0;
thedo	166:3a9487d57a5c	478	int y = MODE_BTN_Y;
thedo	166:3a9487d57a5c	479
thedo	166:3a9487d57a5c	480	x+=space;
thedo	166:3a9487d57a5c	481	myCanvasButton.drawImage(my_img_button_face_detect,x,y); // 100x40
thedo	166:3a9487d57a5c	482	x+=100;
thedo	166:3a9487d57a5c	483
thedo	166:3a9487d57a5c	484	x+=space;
thedo	166:3a9487d57a5c	485	myCanvasButton.drawImage(my_img_button_face_recognition,x,y);
thedo	166:3a9487d57a5c	486	x+=100;
thedo	166:3a9487d57a5c	487
thedo	166:3a9487d57a5c	488	x+=space;
thedo	166:3a9487d57a5c	489	myCanvasButton.drawImage(my_img_button_obj_motion,x,y);
thedo	166:3a9487d57a5c	490	x+=100;
thedo	166:3a9487d57a5c	491
thedo	166:3a9487d57a5c	492	x+=space;
thedo	166:3a9487d57a5c	493	myCanvasButton.drawImage(my_img_button_gesture_reg,x,y);
thedo	166:3a9487d57a5c	494	x+=100;
thedo	166:3a9487d57a5c	495	}
thedo	166:3a9487d57a5c	496
thedo	166:3a9487d57a5c	497	void drawTextScreen(graphicFrameworkCanvas myCanvasButton)
thedo	166:3a9487d57a5c	498	{
thedo	166:3a9487d57a5c	499	int x = 160;
thedo	166:3a9487d57a5c	500	int y = 5;
thedo	166:3a9487d57a5c	501
thedo	166:3a9487d57a5c	502	if( appMode == MOTION_DETECTION )
thedo	166:3a9487d57a5c	503	{
thedo	166:3a9487d57a5c	504	myCanvasButton.drawImage(my_img_text_obj_motion,x, y);
thedo	166:3a9487d57a5c	505	}
thedo	166:3a9487d57a5c	506	else if ( appMode == FACE_DETECTION )
thedo	166:3a9487d57a5c	507	{
thedo	166:3a9487d57a5c	508	myCanvasButton.drawImage(my_img_text_face_detection,x, y);
thedo	166:3a9487d57a5c	509	}
thedo	166:3a9487d57a5c	510	else if ( appMode == FACE_RECOGNITION )
thedo	166:3a9487d57a5c	511	{
thedo	166:3a9487d57a5c	512	myCanvasButton.drawImage(my_img_text_face_recognition,x, y);
thedo	166:3a9487d57a5c	513	}
thedo	166:3a9487d57a5c	514	else if ( appMode == GUESTURE_RECOGNITION )
thedo	166:3a9487d57a5c	515	{
thedo	166:3a9487d57a5c	516	myCanvasButton.drawImage(my_img_text_gesture_reg,x, y);
thedo	166:3a9487d57a5c	517	}
thedo	166:3a9487d57a5c	518	}
thedo	166:3a9487d57a5c	519
thedo	166:3a9487d57a5c	520	void clearGestureResult(gesture_result res)
thedo	166:3a9487d57a5c	521	{
thedo	166:3a9487d57a5c	522	res.circles.clear();
thedo	166:3a9487d57a5c	523	res.lines.clear();
thedo	166:3a9487d57a5c	524	res.contour.clear();
thedo	166:3a9487d57a5c	525	}
thedo	166:3a9487d57a5c	526	/**** Thread image process ****/
thedo	166:3a9487d57a5c	527	static void img_draw_objects(void)
thedo	166:3a9487d57a5c	528	{
thedo	166:3a9487d57a5c	529	graphicFrameworkCanvas myCanvas(user_frame_buffer_draw, 0x01E0,
thedo	166:3a9487d57a5c	530	0x0110, (uint8_t)DRAW_BUFFER_BYTE_PER_PIXEL,
thedo	166:3a9487d57a5c	531	(uint8_t)DRAW_POINT,0x06);
thedo	166:3a9487d57a5c	532
thedo	166:3a9487d57a5c	533	initDrawResultLayer();
thedo	166:3a9487d57a5c	534
thedo	166:3a9487d57a5c	535	uint8_t color[2] = {0x0B,0xFF};// Color Pink
thedo	166:3a9487d57a5c	536	APP_MODE oldMode = appMode;
thedo	166:3a9487d57a5c	537	while(1)
thedo	166:3a9487d57a5c	538	{
thedo	166:3a9487d57a5c	539	Thread::signal_wait(1);
thedo	166:3a9487d57a5c	540	memset(user_frame_buffer_draw, 0, sizeof(user_frame_buffer_draw));
thedo	166:3a9487d57a5c	541
thedo	166:3a9487d57a5c	542	if ( oldMode != appMode)
thedo	166:3a9487d57a5c	543	{
thedo	166:3a9487d57a5c	544	oldMode = appMode;
thedo	166:3a9487d57a5c	545
thedo	166:3a9487d57a5c	546	mMutexObjects.lock();
thedo	166:3a9487d57a5c	547	gIsDrawing = false;
thedo	166:3a9487d57a5c	548	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	549
thedo	166:3a9487d57a5c	550	// Data cache clean
thedo	166:3a9487d57a5c	551	dcache_clean(user_frame_buffer_draw, sizeof(user_frame_buffer_draw));
thedo	166:3a9487d57a5c	552	continue;
thedo	166:3a9487d57a5c	553	}
thedo	166:3a9487d57a5c	554
thedo	166:3a9487d57a5c	555	// Draw faces on screen
thedo	166:3a9487d57a5c	556	switch(appMode)
thedo	166:3a9487d57a5c	557	{
thedo	166:3a9487d57a5c	558	case FACE_DETECTION:
thedo	166:3a9487d57a5c	559	case MOTION_DETECTION:
thedo	166:3a9487d57a5c	560	{
thedo	166:3a9487d57a5c	561	if(gObjectDetects.size() > 0)
thedo	166:3a9487d57a5c	562	{
thedo	166:3a9487d57a5c	563	for(int i = 0;i < gObjectDetects.size();i++)
thedo	166:3a9487d57a5c	564	{
thedo	166:3a9487d57a5c	565	int _x = gObjectDetects[i].obj.x*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	566	int _y = gObjectDetects[i].obj.y*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	567	int _w = gObjectDetects[i].obj.width*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	568	int _h = gObjectDetects[i].obj.height*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	569	myCanvas.drawRect(_x,_y,_w,_h,color);
thedo	166:3a9487d57a5c	570	}
thedo	166:3a9487d57a5c	571	}
thedo	166:3a9487d57a5c	572	gObjectDetects.clear();
thedo	166:3a9487d57a5c	573	break;
thedo	166:3a9487d57a5c	574	}
thedo	166:3a9487d57a5c	575	case FACE_RECOGNITION:
thedo	166:3a9487d57a5c	576	{
thedo	166:3a9487d57a5c	577	if(gObjectDetects.size() > 0)
thedo	166:3a9487d57a5c	578	{
thedo	166:3a9487d57a5c	579	for(int i = 0;i < gObjectDetects.size();i++)
thedo	166:3a9487d57a5c	580	{
thedo	166:3a9487d57a5c	581	int _x = gObjectDetects[i].obj.x*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	582	int _y = gObjectDetects[i].obj.y*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	583	int _w = gObjectDetects[i].obj.width*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	584	int _h = gObjectDetects[i].obj.height*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	585	if(gObjectDetects[i].label == 1)
thedo	166:3a9487d57a5c	586	{
thedo	166:3a9487d57a5c	587	// Yellow
thedo	166:3a9487d57a5c	588	color[0] = 0xF0;
thedo	166:3a9487d57a5c	589	color[1] = 0xFF;
thedo	166:3a9487d57a5c	590	}
thedo	166:3a9487d57a5c	591	else if (gObjectDetects[i].label == 2)
thedo	166:3a9487d57a5c	592	{
thedo	166:3a9487d57a5c	593	// Green
thedo	166:3a9487d57a5c	594	color[0] = 0xF0;
thedo	166:3a9487d57a5c	595	color[1] = 0xF0;
thedo	166:3a9487d57a5c	596	}
thedo	166:3a9487d57a5c	597	else
thedo	166:3a9487d57a5c	598	{
thedo	166:3a9487d57a5c	599	// Pink
thedo	166:3a9487d57a5c	600	color[0] = 0x0B;
thedo	166:3a9487d57a5c	601	color[1] = 0xFF;
thedo	166:3a9487d57a5c	602	}
thedo	166:3a9487d57a5c	603	myCanvas.drawRect(_x,_y,_w,_h,color);
thedo	166:3a9487d57a5c	604	}
thedo	166:3a9487d57a5c	605	}
thedo	166:3a9487d57a5c	606	gObjectDetects.clear();
thedo	166:3a9487d57a5c	607	break;
thedo	166:3a9487d57a5c	608	}
thedo	166:3a9487d57a5c	609	case GUESTURE_RECOGNITION:
thedo	166:3a9487d57a5c	610	{
thedo	166:3a9487d57a5c	611	uint8_t contoursColor[2] = {0xF0,0xFF};
thedo	166:3a9487d57a5c	612
thedo	166:3a9487d57a5c	613	//Draw max contour
thedo	166:3a9487d57a5c	614	for(int i = 0; i < gGestureResult.contour.size();i++)//i=0
thedo	166:3a9487d57a5c	615	{
thedo	166:3a9487d57a5c	616	myCanvas.draw_pixel(gGestureResult.contour[i].x,
thedo	166:3a9487d57a5c	617	gGestureResult.contour[i].y,contoursColor);
thedo	166:3a9487d57a5c	618	}
thedo	166:3a9487d57a5c	619	// Draw lines, circles
thedo	166:3a9487d57a5c	620	for(int i = 0;i < gGestureResult.lines.size();i++)
thedo	166:3a9487d57a5c	621	{
thedo	166:3a9487d57a5c	622	myCanvas.drawLine(gGestureResult.lines[i].x1,
thedo	166:3a9487d57a5c	623	gGestureResult.lines[i].y1,
thedo	166:3a9487d57a5c	624	gGestureResult.lines[i].x2,
thedo	166:3a9487d57a5c	625	gGestureResult.lines[i].y2,
thedo	166:3a9487d57a5c	626	gGestureResult.lines[i].color);
thedo	166:3a9487d57a5c	627	}
thedo	166:3a9487d57a5c	628
thedo	166:3a9487d57a5c	629	for(int i = 0;i < gGestureResult.circles.size();i++)
thedo	166:3a9487d57a5c	630	{
thedo	166:3a9487d57a5c	631	myCanvas.drawCircle(gGestureResult.circles[i].x,
thedo	166:3a9487d57a5c	632	gGestureResult.circles[i].y,
thedo	166:3a9487d57a5c	633	gGestureResult.circles[i].radius,
thedo	166:3a9487d57a5c	634	gGestureResult.circles[i].color);
thedo	166:3a9487d57a5c	635	}
thedo	166:3a9487d57a5c	636	break;
thedo	166:3a9487d57a5c	637	}
thedo	166:3a9487d57a5c	638	default:
thedo	166:3a9487d57a5c	639	break;
thedo	166:3a9487d57a5c	640	} // switch
thedo	166:3a9487d57a5c	641
thedo	166:3a9487d57a5c	642	mMutexObjects.lock();
thedo	166:3a9487d57a5c	643	gIsDrawing = false;
thedo	166:3a9487d57a5c	644	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	645
thedo	166:3a9487d57a5c	646	// Data cache clean
thedo	166:3a9487d57a5c	647	dcache_clean(user_frame_buffer_draw, sizeof(user_frame_buffer_draw));
thedo	166:3a9487d57a5c	648	}//while
thedo	166:3a9487d57a5c	649	}
thedo	166:3a9487d57a5c	650
thedo	166:3a9487d57a5c	651	/* Touch task*/
thedo	166:3a9487d57a5c	652	static void touch_int_callback(void)
thedo	166:3a9487d57a5c	653	{
thedo	166:3a9487d57a5c	654	semTouch.release();
thedo	166:3a9487d57a5c	655	}
thedo	166:3a9487d57a5c	656	static void touch_task(void)
thedo	166:3a9487d57a5c	657	{
thedo	166:3a9487d57a5c	658	graphicFrameworkCanvas myCanvasButton(user_frame_buffer_draw_button, 0x01E0,
thedo	166:3a9487d57a5c	659	0x0110, (uint8_t)DRAW_BUFFER_BYTE_PER_PIXEL,
thedo	166:3a9487d57a5c	660	(uint8_t)DRAW_POINT,0x06);
thedo	166:3a9487d57a5c	661	TouchKey::touch_pos_t touch_pos[TOUCH_NUM];
thedo	166:3a9487d57a5c	662
thedo	166:3a9487d57a5c	663	/* Callback setting */
thedo	166:3a9487d57a5c	664	touch.SetCallback(&touch_int_callback);
thedo	166:3a9487d57a5c	665
thedo	166:3a9487d57a5c	666	/* Reset touch IC */
thedo	166:3a9487d57a5c	667	touch.Reset();
thedo	166:3a9487d57a5c	668
thedo	166:3a9487d57a5c	669	initDrawButtonLayer();
thedo	166:3a9487d57a5c	670	drawTextScreen(myCanvasButton);
thedo	166:3a9487d57a5c	671	drawButtonControls(myCanvasButton);
thedo	166:3a9487d57a5c	672
thedo	166:3a9487d57a5c	673	int x_touch = -1, y_touch = -1;
thedo	166:3a9487d57a5c	674
thedo	166:3a9487d57a5c	675	set_time(0);//set_time(1498450609);//11:15,Mon-26-June
thedo	166:3a9487d57a5c	676	double seconds = (double)time(NULL);
thedo	166:3a9487d57a5c	677
thedo	166:3a9487d57a5c	678	while(1)
thedo	166:3a9487d57a5c	679	{
thedo	166:3a9487d57a5c	680	/* Wait touch event */
thedo	166:3a9487d57a5c	681	semTouch.wait();
thedo	166:3a9487d57a5c	682
thedo	166:3a9487d57a5c	683	touch.GetCoordinates(TOUCH_NUM, touch_pos);
thedo	166:3a9487d57a5c	684
thedo	166:3a9487d57a5c	685	for (int i = 0; i < TOUCH_NUM; i ++) {
thedo	166:3a9487d57a5c	686	if (touch_pos[i].valid) {
thedo	166:3a9487d57a5c	687	int new_touch_x = touch_pos[i].x;
thedo	166:3a9487d57a5c	688	int new_touch_y = touch_pos[i].y;
thedo	166:3a9487d57a5c	689	APP_MODE mode = getFunctionSelected(new_touch_x, new_touch_y);
thedo	166:3a9487d57a5c	690
thedo	166:3a9487d57a5c	691	if(mode != appMode && mode != MODE_UNKNOWN)
thedo	166:3a9487d57a5c	692	{
thedo	166:3a9487d57a5c	693	appMode = mode;
thedo	166:3a9487d57a5c	694	memset(user_frame_buffer_draw_button, 0, sizeof(uint8_t)LCD_PIXEL_WIDTH(MODE_BTN_Y)*FRAME_BUFFER_BYTE_PER_PIXEL);
thedo	166:3a9487d57a5c	695	drawTextScreen(myCanvasButton);
thedo	166:3a9487d57a5c	696	dcache_clean(user_frame_buffer_draw_button, sizeof(user_frame_buffer_draw_button));
thedo	166:3a9487d57a5c	697	}
thedo	166:3a9487d57a5c	698	else if (appMode == FACE_RECOGNITION)
thedo	166:3a9487d57a5c	699	{
thedo	166:3a9487d57a5c	700	double time_1 = (double)time(NULL) - seconds;
thedo	166:3a9487d57a5c	701	int posAbs = abs(new_touch_x - x_touch) +
thedo	166:3a9487d57a5c	702	abs(new_touch_y - y_touch);
thedo	166:3a9487d57a5c	703
thedo	166:3a9487d57a5c	704	if(posAbs > 5 \|\| time_1 > 0.5) //1s
thedo	166:3a9487d57a5c	705	{
thedo	166:3a9487d57a5c	706	x_touch = new_touch_x;
thedo	166:3a9487d57a5c	707	y_touch = new_touch_y;
thedo	166:3a9487d57a5c	708
thedo	166:3a9487d57a5c	709	clickActionFaceReg(new_touch_x,new_touch_y);
thedo	166:3a9487d57a5c	710
thedo	166:3a9487d57a5c	711	}
thedo	166:3a9487d57a5c	712	seconds = (double)time(NULL);
thedo	166:3a9487d57a5c	713	}
thedo	166:3a9487d57a5c	714	else if (appMode == GUESTURE_RECOGNITION)
thedo	166:3a9487d57a5c	715	{
thedo	166:3a9487d57a5c	716	double time_1 = (double)time(NULL) - seconds;
thedo	166:3a9487d57a5c	717	int posAbs = abs(new_touch_x - x_touch) +
thedo	166:3a9487d57a5c	718	abs(new_touch_y - y_touch);
thedo	166:3a9487d57a5c	719
thedo	166:3a9487d57a5c	720	if(posAbs > 5 \|\| time_1 > 0.5) //1s
thedo	166:3a9487d57a5c	721	{
thedo	166:3a9487d57a5c	722	x_touch = new_touch_x;
thedo	166:3a9487d57a5c	723	y_touch = new_touch_y;
thedo	166:3a9487d57a5c	724	clickActionGestureReg(new_touch_x,new_touch_y);
thedo	166:3a9487d57a5c	725	}
thedo	166:3a9487d57a5c	726
thedo	166:3a9487d57a5c	727	seconds = (double)time(NULL);
thedo	166:3a9487d57a5c	728	}
thedo	166:3a9487d57a5c	729	}
thedo	166:3a9487d57a5c	730	}
thedo	166:3a9487d57a5c	731	}
thedo	166:3a9487d57a5c	732	}
thedo	166:3a9487d57a5c	733
thedo	166:3a9487d57a5c	734	/**** Video input is output to LCD ****/
thedo	166:3a9487d57a5c	735	static void video_lcd_task(void) {
thedo	166:3a9487d57a5c	736	DisplayBase::graphics_error_t error;
thedo	166:3a9487d57a5c	737	int wk_num;
thedo	166:3a9487d57a5c	738
thedo	166:3a9487d57a5c	739	/* Initialization memory */
thedo	166:3a9487d57a5c	740	for (int i = 0; i < FRAME_BUFFER_NUM; i++) {
thedo	166:3a9487d57a5c	741	memset(FrameBufferTbl[i], 0, (FRAME_BUFFER_STRIDE * LCD_PIXEL_HEIGHT));
thedo	166:3a9487d57a5c	742	dcache_clean(FrameBufferTbl[i],(FRAME_BUFFER_STRIDE * LCD_PIXEL_HEIGHT));
thedo	166:3a9487d57a5c	743	}
thedo	166:3a9487d57a5c	744
thedo	166:3a9487d57a5c	745	/* Start of Video */
thedo	166:3a9487d57a5c	746	Start_Video(FrameBufferTbl[write_buff_num]);
thedo	166:3a9487d57a5c	747
thedo	166:3a9487d57a5c	748	/* Wait for first video drawing */
thedo	166:3a9487d57a5c	749	Thread::signal_wait(1);
thedo	166:3a9487d57a5c	750	write_buff_num++;
thedo	166:3a9487d57a5c	751	if (write_buff_num >= FRAME_BUFFER_NUM) {
thedo	166:3a9487d57a5c	752	write_buff_num = 0;
thedo	166:3a9487d57a5c	753	}
thedo	166:3a9487d57a5c	754	error = Display.Video_Write_Change(VIDEO_INPUT_CH,
thedo	166:3a9487d57a5c	755	FrameBufferTbl[write_buff_num], FRAME_BUFFER_STRIDE);
thedo	166:3a9487d57a5c	756	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	757	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	758	mbed_die();
thedo	166:3a9487d57a5c	759	}
thedo	166:3a9487d57a5c	760
thedo	166:3a9487d57a5c	761	/* Start of LCD */
thedo	166:3a9487d57a5c	762	Start_LCD_Display(FrameBufferTbl[read_buff_num]);
thedo	166:3a9487d57a5c	763
thedo	166:3a9487d57a5c	764	/* Backlight on */
thedo	166:3a9487d57a5c	765	Thread::wait(200);
thedo	166:3a9487d57a5c	766	lcd_cntrst.write(1.0);
thedo	166:3a9487d57a5c	767
thedo	166:3a9487d57a5c	768	while (1) {
thedo	166:3a9487d57a5c	769	Thread::signal_wait(1);
thedo	166:3a9487d57a5c	770	wk_num = write_buff_num + 1;
thedo	166:3a9487d57a5c	771	if (wk_num >= FRAME_BUFFER_NUM) {
thedo	166:3a9487d57a5c	772	wk_num = 0;
thedo	166:3a9487d57a5c	773	}
thedo	166:3a9487d57a5c	774	/* If the next buffer is empty, it's changed. */
thedo	166:3a9487d57a5c	775	if (wk_num != read_buff_num) {
thedo	166:3a9487d57a5c	776	read_buff_num = write_buff_num;
thedo	166:3a9487d57a5c	777	write_buff_num = wk_num;
thedo	166:3a9487d57a5c	778
thedo	166:3a9487d57a5c	779	/* Change video buffer */
thedo	166:3a9487d57a5c	780	error = Display.Video_Write_Change(VIDEO_INPUT_CH,
thedo	166:3a9487d57a5c	781	FrameBufferTbl[0/write_buff_num/], FRAME_BUFFER_STRIDE);
thedo	166:3a9487d57a5c	782	if (error != DisplayBase::GRAPHICS_OK) {
thedo	166:3a9487d57a5c	783	printf("Line %d, error %d\n", __LINE__, error);
thedo	166:3a9487d57a5c	784	mbed_die();
thedo	166:3a9487d57a5c	785	}
thedo	166:3a9487d57a5c	786
thedo	166:3a9487d57a5c	787	mMutexProcess.lock();
thedo	166:3a9487d57a5c	788	if ( gIsProcessing == false)
thedo	166:3a9487d57a5c	789	{
thedo	166:3a9487d57a5c	790	gIsProcessing = true;
thedo	166:3a9487d57a5c	791	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	792
thedo	166:3a9487d57a5c	793	memcpy((void )my_frame,(void)FrameBufferTbl[0],
thedo	166:3a9487d57a5c	794	FRAME_BUFFER_STRIDE * LCD_PIXEL_HEIGHT);
thedo	166:3a9487d57a5c	795	semProcessThread.release();
thedo	166:3a9487d57a5c	796	}
thedo	166:3a9487d57a5c	797	else
thedo	166:3a9487d57a5c	798	{
thedo	166:3a9487d57a5c	799	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	800	}
thedo	166:3a9487d57a5c	801
thedo	166:3a9487d57a5c	802	/* Change LCD buffer */
thedo	166:3a9487d57a5c	803	Display.Graphics_Read_Change(DisplayBase::GRAPHICS_LAYER_0,
thedo	166:3a9487d57a5c	804	(void )FrameBufferTbl[0/read_buff_num*/]);
thedo	166:3a9487d57a5c	805	}
thedo	166:3a9487d57a5c	806	}
thedo	166:3a9487d57a5c	807	}
thedo	166:3a9487d57a5c	808
thedo	166:3a9487d57a5c	809	bool initSdCard()
thedo	166:3a9487d57a5c	810	{
thedo	166:3a9487d57a5c	811	if(myStorage == NULL)
thedo	166:3a9487d57a5c	812	{
thedo	166:3a9487d57a5c	813	return false;
thedo	166:3a9487d57a5c	814	}
thedo	166:3a9487d57a5c	815	if (myStorage->isConnectSdCard() == STORG_PASS)
thedo	166:3a9487d57a5c	816	{
thedo	166:3a9487d57a5c	817	if(myStorage->mountSdCard() == STORG_PASS)
thedo	166:3a9487d57a5c	818	{
thedo	166:3a9487d57a5c	819	return true;
thedo	166:3a9487d57a5c	820	}
thedo	166:3a9487d57a5c	821	else
thedo	166:3a9487d57a5c	822	{
thedo	166:3a9487d57a5c	823	// mount sdcard failed!
thedo	166:3a9487d57a5c	824	return false;
thedo	166:3a9487d57a5c	825	}
thedo	166:3a9487d57a5c	826	}
thedo	166:3a9487d57a5c	827	else
thedo	166:3a9487d57a5c	828	{
thedo	166:3a9487d57a5c	829	// no sdcard!
thedo	166:3a9487d57a5c	830	togle_led(LED_RED);
thedo	166:3a9487d57a5c	831	return false;
thedo	166:3a9487d57a5c	832	}
thedo	166:3a9487d57a5c	833	}
thedo	166:3a9487d57a5c	834	void faceDectectionApp(void)
thedo	166:3a9487d57a5c	835	{
thedo	166:3a9487d57a5c	836	Size face_size(LCD_PIXEL_WIDTH/IMG_DOWN_SAMPLE,
thedo	166:3a9487d57a5c	837	LCD_PIXEL_HEIGHT/IMG_DOWN_SAMPLE);
thedo	166:3a9487d57a5c	838	Mat smallImage = Mat::zeros(face_size, CV_8UC1);
thedo	166:3a9487d57a5c	839	CascadeClassifier haar_cascade;
thedo	166:3a9487d57a5c	840	vector<Rect> faces;
thedo	169:bdaa9537e072	841	if (!haar_cascade.load(HAAR_CASCADE_FACE_PATH))
thedo	166:3a9487d57a5c	842	{
thedo	166:3a9487d57a5c	843	// load failed
thedo	166:3a9487d57a5c	844	togle_led(LED_RED);
thedo	166:3a9487d57a5c	845	while(1)
thedo	166:3a9487d57a5c	846	{
thedo	166:3a9487d57a5c	847	wait(0.5);
thedo	166:3a9487d57a5c	848	}
thedo	166:3a9487d57a5c	849	}
thedo	166:3a9487d57a5c	850	else{
thedo	166:3a9487d57a5c	851	togle_led(LED_GREEN);
thedo	166:3a9487d57a5c	852	}
thedo	166:3a9487d57a5c	853	togle_reset(LED_RED,LED_BLUE);
thedo	166:3a9487d57a5c	854	faces.clear();
thedo	166:3a9487d57a5c	855
thedo	166:3a9487d57a5c	856	gObjectDetects.clear();
thedo	166:3a9487d57a5c	857	while (1) {
thedo	166:3a9487d57a5c	858	semProcessThread.wait();
thedo	166:3a9487d57a5c	859
thedo	166:3a9487d57a5c	860	if ( appMode != FACE_DETECTION )
thedo	166:3a9487d57a5c	861	{
thedo	166:3a9487d57a5c	862	mMutexProcess.lock();
thedo	166:3a9487d57a5c	863	gIsProcessing = false;
thedo	166:3a9487d57a5c	864	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	865	break;
thedo	166:3a9487d57a5c	866	}
thedo	166:3a9487d57a5c	867
thedo	166:3a9487d57a5c	868	Mat gray;
thedo	166:3a9487d57a5c	869	{
thedo	166:3a9487d57a5c	870	Mat res = _m_cvtRgb5652Rgb(my_frame,(int)LCD_PIXEL_WIDTH,
thedo	166:3a9487d57a5c	871	(int)LCD_PIXEL_HEIGHT,2);
thedo	166:3a9487d57a5c	872	cvtColor(res,gray,COLOR_RGB2GRAY);
thedo	166:3a9487d57a5c	873	res.release();
thedo	166:3a9487d57a5c	874	}
thedo	166:3a9487d57a5c	875
thedo	166:3a9487d57a5c	876	equalizeHist(gray,gray);
thedo	166:3a9487d57a5c	877	resize(gray, smallImage, face_size);
thedo	166:3a9487d57a5c	878
thedo	166:3a9487d57a5c	879	haar_cascade.detectMultiScale(smallImage,faces,1.1,
thedo	166:3a9487d57a5c	880	2,0\|CV_HAAR_SCALE_IMAGE,Size(10,10));
thedo	166:3a9487d57a5c	881	mMutexObjects.lock();
thedo	166:3a9487d57a5c	882	if(gIsDrawing == false)
thedo	166:3a9487d57a5c	883	{
thedo	166:3a9487d57a5c	884	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	885	for(int i = 0;i < faces.size();i++)
thedo	166:3a9487d57a5c	886	{
thedo	166:3a9487d57a5c	887	obj_detect_result tmp;
thedo	166:3a9487d57a5c	888	tmp.obj = faces[i];
thedo	166:3a9487d57a5c	889	tmp.label = -1;
thedo	166:3a9487d57a5c	890	gObjectDetects.push_back(tmp);
thedo	166:3a9487d57a5c	891	}
thedo	166:3a9487d57a5c	892	//gObjectDetects = faces;
thedo	166:3a9487d57a5c	893	gIsDrawing = true;
thedo	166:3a9487d57a5c	894	p_DrawObjects->signal_set(1);
thedo	166:3a9487d57a5c	895	}
thedo	166:3a9487d57a5c	896	else
thedo	166:3a9487d57a5c	897	{
thedo	166:3a9487d57a5c	898	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	899	}
thedo	166:3a9487d57a5c	900
thedo	166:3a9487d57a5c	901	/* Reset flag */
thedo	166:3a9487d57a5c	902	faces.clear();
thedo	166:3a9487d57a5c	903	mMutexProcess.lock();
thedo	166:3a9487d57a5c	904	gIsProcessing = false;
thedo	166:3a9487d57a5c	905	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	906	};
thedo	166:3a9487d57a5c	907	}
thedo	166:3a9487d57a5c	908
thedo	166:3a9487d57a5c	909	void motionDetectionApp(void)
thedo	166:3a9487d57a5c	910	{
thedo	166:3a9487d57a5c	911	bool isNewStart = true;
thedo	166:3a9487d57a5c	912	int threshValue = 30;
thedo	166:3a9487d57a5c	913	int blurSize = 5;
thedo	166:3a9487d57a5c	914	float mArea = 0.0;
thedo	166:3a9487d57a5c	915	float mMaxArea = 0.0;
thedo	166:3a9487d57a5c	916	int mMaxIndex = 0;
thedo	166:3a9487d57a5c	917	bool _isDrawing;
thedo	166:3a9487d57a5c	918	int mCounter = 0;
thedo	166:3a9487d57a5c	919	Mat curFrameGray;
thedo	166:3a9487d57a5c	920	Mat prevFrameGray;
thedo	166:3a9487d57a5c	921	Mat diffImage;
thedo	166:3a9487d57a5c	922	Mat binImage;
thedo	166:3a9487d57a5c	923	vector<vector<Point> > contours;
thedo	166:3a9487d57a5c	924	vector<Rect> _objects;
thedo	166:3a9487d57a5c	925
thedo	166:3a9487d57a5c	926	gObjectDetects.clear();
thedo	166:3a9487d57a5c	927	while(1)
thedo	166:3a9487d57a5c	928	{
thedo	166:3a9487d57a5c	929	semProcessThread.wait();
thedo	166:3a9487d57a5c	930
thedo	166:3a9487d57a5c	931	if ( appMode != MOTION_DETECTION )
thedo	166:3a9487d57a5c	932	{
thedo	166:3a9487d57a5c	933	mMutexProcess.lock();
thedo	166:3a9487d57a5c	934	gIsProcessing = false;
thedo	166:3a9487d57a5c	935	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	936
thedo	166:3a9487d57a5c	937	break;
thedo	166:3a9487d57a5c	938	}
thedo	166:3a9487d57a5c	939
thedo	166:3a9487d57a5c	940	_objects.clear();
thedo	166:3a9487d57a5c	941	mCounter++;
thedo	166:3a9487d57a5c	942	if( isNewStart == false)
thedo	166:3a9487d57a5c	943	{
thedo	166:3a9487d57a5c	944	{
thedo	166:3a9487d57a5c	945	Mat res = _m_cvtRgb5652Rgb(my_frame,(int)LCD_PIXEL_WIDTH,
thedo	166:3a9487d57a5c	946	(int)LCD_PIXEL_HEIGHT,2);
thedo	166:3a9487d57a5c	947	cvtColor(res,curFrameGray,COLOR_RGB2GRAY);
thedo	166:3a9487d57a5c	948	res.release();
thedo	166:3a9487d57a5c	949	}
thedo	166:3a9487d57a5c	950	/* differential between foreground and background */
thedo	166:3a9487d57a5c	951	absdiff(curFrameGray, prevFrameGray, diffImage);
thedo	166:3a9487d57a5c	952	blur(diffImage, diffImage, Size(blurSize, blurSize));
thedo	166:3a9487d57a5c	953	threshold(diffImage, binImage, threshValue, 255, CV_THRESH_BINARY);
thedo	166:3a9487d57a5c	954	findContours(binImage, contours, CV_RETR_EXTERNAL,
thedo	166:3a9487d57a5c	955	CV_CHAIN_APPROX_NONE);
thedo	166:3a9487d57a5c	956
thedo	166:3a9487d57a5c	957	if(contours.size() > 0)
thedo	166:3a9487d57a5c	958	{
thedo	166:3a9487d57a5c	959	for (int i = 0; i < contours.size(); i++)
thedo	166:3a9487d57a5c	960	{
thedo	166:3a9487d57a5c	961	mArea = contourArea(contours[i]);
thedo	166:3a9487d57a5c	962	if (mArea > mMaxArea)
thedo	166:3a9487d57a5c	963	{
thedo	166:3a9487d57a5c	964	mMaxArea = mArea;
thedo	166:3a9487d57a5c	965	mMaxIndex = i;
thedo	166:3a9487d57a5c	966	}
thedo	166:3a9487d57a5c	967	}
thedo	166:3a9487d57a5c	968
thedo	166:3a9487d57a5c	969	if (mMaxArea > MAX_COUNTOURS)
thedo	166:3a9487d57a5c	970	{
thedo	166:3a9487d57a5c	971	Rect objectBoundingRectangle = boundingRect(
thedo	166:3a9487d57a5c	972	contours.at(mMaxIndex));
thedo	166:3a9487d57a5c	973	_objects.push_back(objectBoundingRectangle);
thedo	166:3a9487d57a5c	974	}
thedo	166:3a9487d57a5c	975	}
thedo	166:3a9487d57a5c	976
thedo	166:3a9487d57a5c	977	/* Set display motion objects */
thedo	166:3a9487d57a5c	978	mMutexObjects.lock();
thedo	166:3a9487d57a5c	979	_isDrawing = gIsDrawing;
thedo	166:3a9487d57a5c	980	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	981
thedo	166:3a9487d57a5c	982	if(_isDrawing == false)
thedo	166:3a9487d57a5c	983	{
thedo	166:3a9487d57a5c	984	for(int i = 0;i < _objects.size();i++)
thedo	166:3a9487d57a5c	985	{
thedo	166:3a9487d57a5c	986	obj_detect_result tmp;
thedo	166:3a9487d57a5c	987	tmp.obj = _objects[i];
thedo	166:3a9487d57a5c	988	tmp.label = -1;
thedo	166:3a9487d57a5c	989	gObjectDetects.push_back(tmp);
thedo	166:3a9487d57a5c	990	}
thedo	166:3a9487d57a5c	991	//gObjectDetects = _objects;
thedo	166:3a9487d57a5c	992	gIsDrawing = true;
thedo	166:3a9487d57a5c	993	p_DrawObjects->signal_set(1);
thedo	166:3a9487d57a5c	994	}
thedo	166:3a9487d57a5c	995
thedo	166:3a9487d57a5c	996	/* Reset values */
thedo	166:3a9487d57a5c	997	mMaxArea = 0;
thedo	166:3a9487d57a5c	998	mArea = 0;
thedo	166:3a9487d57a5c	999	mMaxIndex = 0;
thedo	166:3a9487d57a5c	1000
thedo	166:3a9487d57a5c	1001	/* Update background */
thedo	166:3a9487d57a5c	1002	if(mCounter == 50)
thedo	166:3a9487d57a5c	1003	{
thedo	166:3a9487d57a5c	1004	mCounter = 0;
thedo	166:3a9487d57a5c	1005	isNewStart = true;
thedo	166:3a9487d57a5c	1006	}
thedo	166:3a9487d57a5c	1007	}
thedo	166:3a9487d57a5c	1008	else
thedo	166:3a9487d57a5c	1009	{
thedo	166:3a9487d57a5c	1010	isNewStart = false;
thedo	166:3a9487d57a5c	1011	prevFrameGray = _m_cvtRgb5652Rgb(my_frame,(int)LCD_PIXEL_WIDTH,
thedo	166:3a9487d57a5c	1012	(int)LCD_PIXEL_HEIGHT,2);
thedo	166:3a9487d57a5c	1013	cvtColor(prevFrameGray,prevFrameGray,COLOR_RGB2GRAY);
thedo	166:3a9487d57a5c	1014	}
thedo	166:3a9487d57a5c	1015
thedo	166:3a9487d57a5c	1016	mMutexProcess.lock();
thedo	166:3a9487d57a5c	1017	gIsProcessing = false;
thedo	166:3a9487d57a5c	1018	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	1019	};
thedo	166:3a9487d57a5c	1020	}
thedo	166:3a9487d57a5c	1021
thedo	166:3a9487d57a5c	1022	void faceRecognitionApp(void)
thedo	166:3a9487d57a5c	1023	{
thedo	166:3a9487d57a5c	1024	// Init draw
thedo	166:3a9487d57a5c	1025	graphicFrameworkCanvas myCanvas(user_buf_draw_action_888, 0x01E0,
thedo	166:3a9487d57a5c	1026	0x0110, 0x04,
thedo	166:3a9487d57a5c	1027	(uint8_t)DRAW_POINT,0x06);
thedo	166:3a9487d57a5c	1028
thedo	166:3a9487d57a5c	1029	uint8_t label_id = 1;
thedo	166:3a9487d57a5c	1030	bool oldStateFace = false;// no faces
thedo	166:3a9487d57a5c	1031	// End init draw
thedo	166:3a9487d57a5c	1032
thedo	166:3a9487d57a5c	1033	Size face_size(LCD_PIXEL_WIDTH/IMG_DOWN_SAMPLE,
thedo	166:3a9487d57a5c	1034	LCD_PIXEL_HEIGHT/IMG_DOWN_SAMPLE);
thedo	166:3a9487d57a5c	1035	Mat smallImage = Mat::zeros(face_size, CV_8UC1);
thedo	166:3a9487d57a5c	1036	CascadeClassifier haar_cascade;
thedo	166:3a9487d57a5c	1037	vector<Rect> faces;
thedo	166:3a9487d57a5c	1038
thedo	166:3a9487d57a5c	1039	//Init recognizer
thedo	166:3a9487d57a5c	1040	int radius = 2, neighbors = 4, gridx = 8, gridy = 8, thresmax = 50;
thedo	166:3a9487d57a5c	1041	Ptr<LBPHFaceRecognizer> modelReg = createLBPHFaceRecognizer(radius, neighbors,
thedo	166:3a9487d57a5c	1042	gridx, gridy, thresmax);
thedo	166:3a9487d57a5c	1043	face_database_t face_database;
thedo	166:3a9487d57a5c	1044	Size regSize(70,70);
thedo	166:3a9487d57a5c	1045	bool flag_class = false;
thedo	166:3a9487d57a5c	1046	bool flag_train = false;
thedo	166:3a9487d57a5c	1047	bool isFirstTrain = true;
thedo	166:3a9487d57a5c	1048	bool changeApp = false;
thedo	166:3a9487d57a5c	1049
thedo	169:bdaa9537e072	1050	if (!haar_cascade.load(HAAR_CASCADE_FACE_PATH))
thedo	166:3a9487d57a5c	1051	{
thedo	166:3a9487d57a5c	1052	// load failed
thedo	166:3a9487d57a5c	1053	togle_led(LED_RED);
thedo	166:3a9487d57a5c	1054	while(1)
thedo	166:3a9487d57a5c	1055	{
thedo	166:3a9487d57a5c	1056	wait(0.5);
thedo	166:3a9487d57a5c	1057	}
thedo	166:3a9487d57a5c	1058	}
thedo	166:3a9487d57a5c	1059	else{
thedo	166:3a9487d57a5c	1060	togle_led(LED_GREEN);
thedo	166:3a9487d57a5c	1061	}
thedo	166:3a9487d57a5c	1062	togle_reset(LED_RED,LED_BLUE);
thedo	166:3a9487d57a5c	1063	faces.clear();
thedo	166:3a9487d57a5c	1064
thedo	166:3a9487d57a5c	1065	gObjectDetects.clear();
thedo	166:3a9487d57a5c	1066	while(1)
thedo	166:3a9487d57a5c	1067	{
thedo	166:3a9487d57a5c	1068	semProcessThread.wait();
thedo	166:3a9487d57a5c	1069
thedo	166:3a9487d57a5c	1070	if ( appMode != FACE_RECOGNITION )
thedo	166:3a9487d57a5c	1071	{
thedo	166:3a9487d57a5c	1072	mMutexProcess.lock();
thedo	166:3a9487d57a5c	1073	gIsProcessing = false;
thedo	166:3a9487d57a5c	1074	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	1075	memset(user_buf_draw_action_888, 0,
thedo	166:3a9487d57a5c	1076	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1077	break;
thedo	166:3a9487d57a5c	1078	}
thedo	166:3a9487d57a5c	1079
thedo	166:3a9487d57a5c	1080	Mat gray;
thedo	166:3a9487d57a5c	1081	Mat imgRgb = _m_cvtRgb5652Rgb(my_frame,(int)LCD_PIXEL_WIDTH,
thedo	166:3a9487d57a5c	1082	(int)LCD_PIXEL_HEIGHT,2);
thedo	166:3a9487d57a5c	1083	cvtColor(imgRgb,gray,COLOR_RGB2GRAY);
thedo	166:3a9487d57a5c	1084
thedo	166:3a9487d57a5c	1085	equalizeHist(gray,gray);
thedo	166:3a9487d57a5c	1086	resize(gray, smallImage, face_size);
thedo	166:3a9487d57a5c	1087
thedo	166:3a9487d57a5c	1088	haar_cascade.detectMultiScale(smallImage,faces,1.1,
thedo	166:3a9487d57a5c	1089	2,0\|CV_HAAR_SCALE_IMAGE,Size(10,10));
thedo	166:3a9487d57a5c	1090
thedo	166:3a9487d57a5c	1091	mMutexObjects.lock();
thedo	166:3a9487d57a5c	1092	if(gIsDrawing == false)
thedo	166:3a9487d57a5c	1093	{
thedo	166:3a9487d57a5c	1094	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1095
thedo	166:3a9487d57a5c	1096	if( faces.size() > 0)
thedo	166:3a9487d57a5c	1097	{
thedo	166:3a9487d57a5c	1098	// Show label
thedo	166:3a9487d57a5c	1099	if (oldStateFace == false)
thedo	166:3a9487d57a5c	1100	{
thedo	166:3a9487d57a5c	1101	oldStateFace = true;
thedo	166:3a9487d57a5c	1102	myCanvas.drawImage(my_img_register_face,
thedo	166:3a9487d57a5c	1103	REGIS_FACE_BTN_X ,REGIS_FACE_BTN_Y);
thedo	166:3a9487d57a5c	1104	}
thedo	166:3a9487d57a5c	1105
thedo	166:3a9487d57a5c	1106	// Click update database
thedo	166:3a9487d57a5c	1107	mMutexClicked.lock();
thedo	166:3a9487d57a5c	1108	if(clickedCode == CLICKED_REGIS_FACE)
thedo	166:3a9487d57a5c	1109	{
thedo	166:3a9487d57a5c	1110	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1111
thedo	166:3a9487d57a5c	1112	// Clean draw faces
thedo	166:3a9487d57a5c	1113	mMutexObjects.lock();
thedo	166:3a9487d57a5c	1114	if(gIsDrawing == false)
thedo	166:3a9487d57a5c	1115	{
thedo	166:3a9487d57a5c	1116	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1117	gObjectDetects.clear();
thedo	166:3a9487d57a5c	1118	gIsDrawing = true;
thedo	166:3a9487d57a5c	1119	p_DrawObjects->signal_set(1);
thedo	166:3a9487d57a5c	1120	}
thedo	166:3a9487d57a5c	1121	else
thedo	166:3a9487d57a5c	1122	{
thedo	166:3a9487d57a5c	1123	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1124	}
thedo	166:3a9487d57a5c	1125
thedo	166:3a9487d57a5c	1126	// Update database/ train data
thedo	166:3a9487d57a5c	1127	face_database.database_image.clear();
thedo	166:3a9487d57a5c	1128	face_database.database_label.clear();
thedo	166:3a9487d57a5c	1129	flag_train = false;
thedo	166:3a9487d57a5c	1130
thedo	166:3a9487d57a5c	1131	for (int i = 0; i < faces.size(); i++)
thedo	166:3a9487d57a5c	1132	{
thedo	166:3a9487d57a5c	1133	// Check exit app
thedo	166:3a9487d57a5c	1134	if(changeApp == true)
thedo	166:3a9487d57a5c	1135	{
thedo	166:3a9487d57a5c	1136	break;
thedo	166:3a9487d57a5c	1137	}
thedo	166:3a9487d57a5c	1138	mMutexClicked.lock();
thedo	168:3efe7c3d1dd7	1139	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	1140	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1141
thedo	166:3a9487d57a5c	1142	int _x = faces[i].x*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1143	int _y = faces[i].y*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1144	int _w = faces[i].width*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1145	int _h = faces[i].height*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1146
thedo	166:3a9487d57a5c	1147	Rect roi(_x,_y,_w,_h);
thedo	166:3a9487d57a5c	1148
thedo	166:3a9487d57a5c	1149	Mat imgShow = imgRgb(roi);
thedo	166:3a9487d57a5c	1150	if(_w > 100)
thedo	166:3a9487d57a5c	1151	{
thedo	166:3a9487d57a5c	1152	resize(imgShow,imgShow,Size(100,100));
thedo	166:3a9487d57a5c	1153	_w = 100;
thedo	166:3a9487d57a5c	1154	_h = 100;
thedo	166:3a9487d57a5c	1155	}
thedo	166:3a9487d57a5c	1156
thedo	166:3a9487d57a5c	1157	uint8_t* src = cvtMat2RGBA888(_w,_h,imgShow);
thedo	166:3a9487d57a5c	1158
thedo	166:3a9487d57a5c	1159	label_id = 1;
thedo	166:3a9487d57a5c	1160
thedo	166:3a9487d57a5c	1161	memset(user_buf_draw_action_888, 0,
thedo	166:3a9487d57a5c	1162	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1163	myCanvas.drawImage(src,100, 90);
thedo	166:3a9487d57a5c	1164	myCanvas.drawImage(my_img_id_01,
thedo	166:3a9487d57a5c	1165	FACE_REG_ID_MENU_X ,FACE_REG_ID_MENU_Y);
thedo	166:3a9487d57a5c	1166	myCanvas.drawImage(my_img_change_id,
thedo	166:3a9487d57a5c	1167	FACE_REG_ACT_MENU_X ,FACE_REG_ACT_MENU_Y);
thedo	166:3a9487d57a5c	1168	myCanvas.drawImage(my_img_add_this,
thedo	166:3a9487d57a5c	1169	FACE_REG_ACT_MENU_X ,FACE_REG_ACT_MENU_Y + 12 + 20);
thedo	166:3a9487d57a5c	1170	myCanvas.drawImage(my_img_ignore,
thedo	166:3a9487d57a5c	1171	FACE_REG_ACT_MENU_X ,FACE_REG_ACT_MENU_Y+ 24 + 40);
thedo	166:3a9487d57a5c	1172
thedo	166:3a9487d57a5c	1173	/* Clean cache */
thedo	166:3a9487d57a5c	1174	dcache_clean(user_buf_draw_action_888,
thedo	166:3a9487d57a5c	1175	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1176	while(1)
thedo	166:3a9487d57a5c	1177	{
thedo	166:3a9487d57a5c	1178	bool isBreak = false;
thedo	166:3a9487d57a5c	1179	mMutexClicked.lock();
thedo	166:3a9487d57a5c	1180	CLICKED_CODE codeTmp = clickedCode;
thedo	166:3a9487d57a5c	1181	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1182
thedo	166:3a9487d57a5c	1183	// Check exit app
thedo	166:3a9487d57a5c	1184	if ( appMode != FACE_RECOGNITION )
thedo	166:3a9487d57a5c	1185	{
thedo	166:3a9487d57a5c	1186	changeApp = true;
thedo	166:3a9487d57a5c	1187	isBreak = true;
thedo	166:3a9487d57a5c	1188	break;
thedo	166:3a9487d57a5c	1189	}
thedo	166:3a9487d57a5c	1190
thedo	166:3a9487d57a5c	1191	switch(codeTmp)
thedo	166:3a9487d57a5c	1192	{
thedo	166:3a9487d57a5c	1193	case CLICKED_CHANGE_ID:
thedo	166:3a9487d57a5c	1194	{
thedo	166:3a9487d57a5c	1195	memset(user_buf_draw_action_888 + FACE_REG_ID_MENU_Y4LCD_PIXEL_WIDTH, 0,
thedo	166:3a9487d57a5c	1196	214LCD_PIXEL_WIDTH);// clear 21 lines
thedo	166:3a9487d57a5c	1197	// Change ID label
thedo	166:3a9487d57a5c	1198	if(label_id == 1)
thedo	166:3a9487d57a5c	1199	{
thedo	166:3a9487d57a5c	1200	label_id = 2;
thedo	166:3a9487d57a5c	1201	myCanvas.drawImage(my_img_id_02,
thedo	166:3a9487d57a5c	1202	FACE_REG_ID_MENU_X ,FACE_REG_ID_MENU_Y);
thedo	166:3a9487d57a5c	1203	}
thedo	166:3a9487d57a5c	1204	else
thedo	166:3a9487d57a5c	1205	{
thedo	166:3a9487d57a5c	1206	label_id = 1;
thedo	166:3a9487d57a5c	1207	myCanvas.drawImage(my_img_id_01,
thedo	166:3a9487d57a5c	1208	FACE_REG_ID_MENU_X ,FACE_REG_ID_MENU_Y);
thedo	166:3a9487d57a5c	1209	}
thedo	166:3a9487d57a5c	1210
thedo	166:3a9487d57a5c	1211	/* Clean cache */
thedo	166:3a9487d57a5c	1212	dcache_clean(user_buf_draw_action_888,
thedo	166:3a9487d57a5c	1213	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1214
thedo	166:3a9487d57a5c	1215	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	1216	break;
thedo	166:3a9487d57a5c	1217	}
thedo	166:3a9487d57a5c	1218	case CLICKED_ADD:
thedo	166:3a9487d57a5c	1219	{
thedo	166:3a9487d57a5c	1220
thedo	166:3a9487d57a5c	1221	Mat imgReg = gray(roi);
thedo	166:3a9487d57a5c	1222	resize(imgReg,imgReg,regSize);
thedo	166:3a9487d57a5c	1223	//train face
thedo	166:3a9487d57a5c	1224	face_database.database_image.push_back(imgReg);
thedo	166:3a9487d57a5c	1225	face_database.database_label.push_back(label_id);
thedo	166:3a9487d57a5c	1226	flag_train = true;
thedo	166:3a9487d57a5c	1227	isBreak = true;
thedo	166:3a9487d57a5c	1228	break;
thedo	166:3a9487d57a5c	1229	}
thedo	166:3a9487d57a5c	1230	case CLICKED_IGNORE:
thedo	166:3a9487d57a5c	1231	{
thedo	166:3a9487d57a5c	1232	//ignore
thedo	166:3a9487d57a5c	1233	isBreak = true;
thedo	166:3a9487d57a5c	1234	break;
thedo	166:3a9487d57a5c	1235	}
thedo	166:3a9487d57a5c	1236	default:
thedo	166:3a9487d57a5c	1237	break;
thedo	166:3a9487d57a5c	1238	}
thedo	166:3a9487d57a5c	1239
thedo	166:3a9487d57a5c	1240	if(isBreak)
thedo	166:3a9487d57a5c	1241	break;
thedo	166:3a9487d57a5c	1242	wait(0.1);
thedo	166:3a9487d57a5c	1243	}
thedo	166:3a9487d57a5c	1244	}// for faces.size()
thedo	166:3a9487d57a5c	1245
thedo	166:3a9487d57a5c	1246	if( flag_train == true)
thedo	166:3a9487d57a5c	1247	{
thedo	166:3a9487d57a5c	1248	if(isFirstTrain == true)
thedo	166:3a9487d57a5c	1249	{
thedo	166:3a9487d57a5c	1250	isFirstTrain = false;
thedo	166:3a9487d57a5c	1251	modelReg->train(face_database.database_image, face_database.database_label);
thedo	166:3a9487d57a5c	1252	}
thedo	166:3a9487d57a5c	1253	else
thedo	166:3a9487d57a5c	1254	{
thedo	166:3a9487d57a5c	1255	modelReg->update(face_database.database_image, face_database.database_label);
thedo	166:3a9487d57a5c	1256	}
thedo	166:3a9487d57a5c	1257	}
thedo	166:3a9487d57a5c	1258
thedo	166:3a9487d57a5c	1259	// Clean screen
thedo	166:3a9487d57a5c	1260	memset(user_buf_draw_action_888, 0,
thedo	166:3a9487d57a5c	1261	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1262	oldStateFace = false;
thedo	166:3a9487d57a5c	1263
thedo	166:3a9487d57a5c	1264	mMutexClicked.lock();
thedo	166:3a9487d57a5c	1265	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	1266	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1267	} //clickedCode == CLICKED_REGIS_FACE
thedo	166:3a9487d57a5c	1268	else
thedo	166:3a9487d57a5c	1269	{
thedo	166:3a9487d57a5c	1270	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1271	if (isFirstTrain == false)
thedo	166:3a9487d57a5c	1272	{
thedo	166:3a9487d57a5c	1273	for(int i = 0; i < faces.size();i++)
thedo	166:3a9487d57a5c	1274	{
thedo	166:3a9487d57a5c	1275	int _x = faces[i].x*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1276	int _y = faces[i].y*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1277	int _w = faces[i].width*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1278	int _h = faces[i].height*IMG_DOWN_SAMPLE;
thedo	166:3a9487d57a5c	1279
thedo	166:3a9487d57a5c	1280	Rect roi(_x,_y,_w,_h);
thedo	166:3a9487d57a5c	1281	Mat target_face = gray(roi);
thedo	166:3a9487d57a5c	1282	resize(target_face,target_face,regSize);
thedo	166:3a9487d57a5c	1283	int predicted = -1;
thedo	166:3a9487d57a5c	1284	double confidence_level = 0;
thedo	166:3a9487d57a5c	1285	modelReg->predict(target_face, predicted, confidence_level);
thedo	166:3a9487d57a5c	1286
thedo	166:3a9487d57a5c	1287	obj_detect_result tmp;
thedo	166:3a9487d57a5c	1288	tmp.obj = faces[i];
thedo	166:3a9487d57a5c	1289
thedo	166:3a9487d57a5c	1290	if(predicted != -1)
thedo	166:3a9487d57a5c	1291	{
thedo	166:3a9487d57a5c	1292	if (confidence_level < thresmax)
thedo	166:3a9487d57a5c	1293	{
thedo	166:3a9487d57a5c	1294	tmp.label = predicted;
thedo	166:3a9487d57a5c	1295	}
thedo	166:3a9487d57a5c	1296	else
thedo	166:3a9487d57a5c	1297	{
thedo	166:3a9487d57a5c	1298	tmp.label = -1;
thedo	166:3a9487d57a5c	1299	}
thedo	166:3a9487d57a5c	1300	}
thedo	166:3a9487d57a5c	1301	else
thedo	166:3a9487d57a5c	1302	{
thedo	166:3a9487d57a5c	1303	tmp.label = -1;
thedo	166:3a9487d57a5c	1304	}
thedo	166:3a9487d57a5c	1305	gObjectDetects.push_back(tmp);
thedo	166:3a9487d57a5c	1306	}
thedo	166:3a9487d57a5c	1307	}
thedo	168:3efe7c3d1dd7	1308	else
thedo	168:3efe7c3d1dd7	1309	{
thedo	166:3a9487d57a5c	1310	for(int i = 0;i < faces.size();i++)
thedo	166:3a9487d57a5c	1311	{
thedo	166:3a9487d57a5c	1312	obj_detect_result tmp;
thedo	166:3a9487d57a5c	1313	tmp.obj = faces[i];
thedo	166:3a9487d57a5c	1314	tmp.label = -1;
thedo	166:3a9487d57a5c	1315	gObjectDetects.push_back(tmp);
thedo	166:3a9487d57a5c	1316	}
thedo	166:3a9487d57a5c	1317	}
thedo	166:3a9487d57a5c	1318
thedo	166:3a9487d57a5c	1319	gIsDrawing = true;
thedo	166:3a9487d57a5c	1320	p_DrawObjects->signal_set(1);
thedo	168:3efe7c3d1dd7	1321	}//clickedCode != CLICKED_REGIS_FACE
thedo	166:3a9487d57a5c	1322	} //faces.size() > 0
thedo	166:3a9487d57a5c	1323	else
thedo	166:3a9487d57a5c	1324	{
thedo	166:3a9487d57a5c	1325	oldStateFace = false;
thedo	166:3a9487d57a5c	1326	memset(user_buf_draw_action_888, 0,
thedo	166:3a9487d57a5c	1327	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1328	mMutexClicked.lock();
thedo	166:3a9487d57a5c	1329	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	1330	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1331
thedo	166:3a9487d57a5c	1332	// Clean draw faces
thedo	166:3a9487d57a5c	1333	mMutexObjects.lock();
thedo	166:3a9487d57a5c	1334	if(gIsDrawing == false)
thedo	166:3a9487d57a5c	1335	{
thedo	166:3a9487d57a5c	1336	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1337	gObjectDetects.clear();
thedo	166:3a9487d57a5c	1338	gIsDrawing = true;
thedo	166:3a9487d57a5c	1339	p_DrawObjects->signal_set(1);
thedo	166:3a9487d57a5c	1340	}
thedo	166:3a9487d57a5c	1341	else
thedo	166:3a9487d57a5c	1342	{
thedo	166:3a9487d57a5c	1343	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1344	}
thedo	166:3a9487d57a5c	1345	}
thedo	166:3a9487d57a5c	1346	}
thedo	166:3a9487d57a5c	1347	else
thedo	166:3a9487d57a5c	1348	{
thedo	166:3a9487d57a5c	1349	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1350	}
thedo	166:3a9487d57a5c	1351
thedo	166:3a9487d57a5c	1352	/* Reset flag */
thedo	166:3a9487d57a5c	1353	faces.clear();
thedo	166:3a9487d57a5c	1354	mMutexProcess.lock();
thedo	166:3a9487d57a5c	1355	gIsProcessing = false;
thedo	166:3a9487d57a5c	1356	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	1357
thedo	166:3a9487d57a5c	1358	/* Clean cache */
thedo	166:3a9487d57a5c	1359	dcache_clean(user_buf_draw_action_888,
thedo	166:3a9487d57a5c	1360	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1361	}
thedo	166:3a9487d57a5c	1362	}
thedo	166:3a9487d57a5c	1363
thedo	166:3a9487d57a5c	1364	/* 2 functions for gesture recognition */
thedo	166:3a9487d57a5c	1365	int distanceP2P(Point2f a, Point2f b)
thedo	166:3a9487d57a5c	1366	{
thedo	166:3a9487d57a5c	1367	int d = (int)sqrt(fabs(pow(a.x - b.x, 2) + pow(a.y - b.y, 2)));
thedo	166:3a9487d57a5c	1368	return d;
thedo	166:3a9487d57a5c	1369	}
thedo	166:3a9487d57a5c	1370
thedo	166:3a9487d57a5c	1371	float getAngle(Point s, Point f, Point e){
thedo	166:3a9487d57a5c	1372	float l1 = distanceP2P(f, s);
thedo	166:3a9487d57a5c	1373	float l2 = distanceP2P(f, e);
thedo	166:3a9487d57a5c	1374	float dot = (s.x - f.x)(e.x - f.x) + (s.y - f.y)(e.y - f.y);
thedo	166:3a9487d57a5c	1375	float angle = acos(dot / (l1*l2));
thedo	166:3a9487d57a5c	1376	angle = angle * 180 / M_PI;
thedo	166:3a9487d57a5c	1377	return angle;
thedo	166:3a9487d57a5c	1378	}
thedo	166:3a9487d57a5c	1379
thedo	166:3a9487d57a5c	1380	void drawButtonSampling(graphicFrameworkCanvas canvas,bool sampling)
thedo	166:3a9487d57a5c	1381	{
thedo	166:3a9487d57a5c	1382	// Clear 21 lines
thedo	166:3a9487d57a5c	1383	memset(user_buf_draw_action_888 + (GESTURE_SAMPLING_BTN_Y - 1)*
thedo	166:3a9487d57a5c	1384	LCD_PIXEL_WIDTH*4, 0,
thedo	166:3a9487d57a5c	1385	21LCD_PIXEL_WIDTH4);
thedo	166:3a9487d57a5c	1386	if(sampling == true) // Sampling, Clicking stop, draw sampling
thedo	166:3a9487d57a5c	1387	{
thedo	166:3a9487d57a5c	1388	canvas.drawImage(my_img_sampling, GESTURE_SAMPLING_BTN_X,
thedo	166:3a9487d57a5c	1389	GESTURE_SAMPLING_BTN_Y);
thedo	166:3a9487d57a5c	1390	}
thedo	166:3a9487d57a5c	1391	else
thedo	166:3a9487d57a5c	1392	{
thedo	166:3a9487d57a5c	1393	canvas.drawImage(my_img_stop, GESTURE_SAMPLING_BTN_X,
thedo	166:3a9487d57a5c	1394	GESTURE_SAMPLING_BTN_Y);
thedo	166:3a9487d57a5c	1395	}
thedo	166:3a9487d57a5c	1396	}
thedo	166:3a9487d57a5c	1397
thedo	166:3a9487d57a5c	1398	void gestureRegconition(void)
thedo	166:3a9487d57a5c	1399	{
thedo	166:3a9487d57a5c	1400	// Init draw
thedo	166:3a9487d57a5c	1401	graphicFrameworkCanvas myCanvas(user_buf_draw_action_888, 0x01E0,
thedo	166:3a9487d57a5c	1402	0x0110, 0x04,
thedo	166:3a9487d57a5c	1403	(uint8_t)DRAW_POINT,0x06);
thedo	166:3a9487d57a5c	1404
thedo	166:3a9487d57a5c	1405	bool sampling = true;
thedo	166:3a9487d57a5c	1406	int kernelSize = 7;
thedo	166:3a9487d57a5c	1407	int thresValue = 100;
thedo	166:3a9487d57a5c	1408	int maxIndex = 0;
thedo	166:3a9487d57a5c	1409	double area = 0.0;
thedo	166:3a9487d57a5c	1410	unsigned long lArea = 0, maxArea = 0;
thedo	166:3a9487d57a5c	1411	int hullSize = 0;
thedo	166:3a9487d57a5c	1412	bool handSamp = true;
thedo	166:3a9487d57a5c	1413	bool isFinger = false;
thedo	166:3a9487d57a5c	1414	int oneFinger = 0;
thedo	166:3a9487d57a5c	1415	int countFinger = 0;
thedo	166:3a9487d57a5c	1416	Sampling handdist;
thedo	166:3a9487d57a5c	1417	Point2f mPa;
thedo	166:3a9487d57a5c	1418	ConvexPoint checkPoint;
thedo	166:3a9487d57a5c	1419
thedo	166:3a9487d57a5c	1420	Mat imgGray;
thedo	166:3a9487d57a5c	1421	Mat blurImg;
thedo	166:3a9487d57a5c	1422	Mat thresholdImg;
thedo	166:3a9487d57a5c	1423	vector<vector<Point> > contours;
thedo	166:3a9487d57a5c	1424	vector<mLine> lLines;
thedo	166:3a9487d57a5c	1425	vector<mCircle> lCircles;
thedo	166:3a9487d57a5c	1426	vector<Point> lMaxContour;
thedo	166:3a9487d57a5c	1427
thedo	166:3a9487d57a5c	1428	myCanvas.drawImage(my_img_stop, GESTURE_SAMPLING_BTN_X,
thedo	166:3a9487d57a5c	1429	GESTURE_SAMPLING_BTN_Y);
thedo	166:3a9487d57a5c	1430	mMutexClicked.lock();
thedo	166:3a9487d57a5c	1431	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	1432	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1433	clearGestureResult(gGestureResult);
thedo	166:3a9487d57a5c	1434	while(1)
thedo	166:3a9487d57a5c	1435	{
thedo	166:3a9487d57a5c	1436	semProcessThread.wait();
thedo	166:3a9487d57a5c	1437
thedo	166:3a9487d57a5c	1438	if ( appMode != GUESTURE_RECOGNITION )
thedo	166:3a9487d57a5c	1439	{
thedo	166:3a9487d57a5c	1440	mMutexProcess.lock();
thedo	166:3a9487d57a5c	1441	gIsProcessing = false;
thedo	166:3a9487d57a5c	1442	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	1443	memset(user_buf_draw_action_888, 0,
thedo	166:3a9487d57a5c	1444	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1445	clearGestureResult(gGestureResult);
thedo	166:3a9487d57a5c	1446	break;
thedo	166:3a9487d57a5c	1447	}
thedo	166:3a9487d57a5c	1448
thedo	166:3a9487d57a5c	1449	//Draw button sampling
thedo	166:3a9487d57a5c	1450	mMutexClicked.lock();
thedo	166:3a9487d57a5c	1451	if (clickedCode == CLICKED_HAND_SAMPLING)
thedo	166:3a9487d57a5c	1452	{
thedo	166:3a9487d57a5c	1453	clickedCode = CLICKED_UNKNOWN;
thedo	166:3a9487d57a5c	1454	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1455	drawButtonSampling(myCanvas,sampling);
thedo	166:3a9487d57a5c	1456	sampling = !sampling;
thedo	166:3a9487d57a5c	1457	}
thedo	166:3a9487d57a5c	1458	else
thedo	166:3a9487d57a5c	1459	{
thedo	166:3a9487d57a5c	1460	mMutexClicked.unlock();
thedo	166:3a9487d57a5c	1461	}
thedo	166:3a9487d57a5c	1462
thedo	166:3a9487d57a5c	1463	// Get frame camera
thedo	166:3a9487d57a5c	1464	{
thedo	166:3a9487d57a5c	1465	Mat res = _m_cvtRgb5652Rgb(my_frame,(int)LCD_PIXEL_WIDTH,
thedo	166:3a9487d57a5c	1466	(int)LCD_PIXEL_HEIGHT,2);
thedo	166:3a9487d57a5c	1467	cvtColor(res,imgGray,COLOR_RGB2GRAY);
thedo	166:3a9487d57a5c	1468	res.release();
thedo	166:3a9487d57a5c	1469	}
thedo	166:3a9487d57a5c	1470
thedo	166:3a9487d57a5c	1471	//Clear old data
thedo	166:3a9487d57a5c	1472	lLines.clear();
thedo	166:3a9487d57a5c	1473	lCircles.clear();
thedo	166:3a9487d57a5c	1474	lMaxContour.clear();
thedo	166:3a9487d57a5c	1475
thedo	166:3a9487d57a5c	1476	// Start processing
thedo	166:3a9487d57a5c	1477	blur(imgGray,blurImg,Size(kernelSize,kernelSize));
thedo	166:3a9487d57a5c	1478	threshold(blurImg,thresholdImg,thresValue,255,CV_THRESH_BINARY);
thedo	166:3a9487d57a5c	1479
thedo	166:3a9487d57a5c	1480	checkPoint.Pointstart.clear();
thedo	166:3a9487d57a5c	1481	checkPoint.Pointdepth.clear();
thedo	166:3a9487d57a5c	1482	checkPoint.Pointindex.clear();
thedo	166:3a9487d57a5c	1483	checkPoint.detecthand = 0;
thedo	166:3a9487d57a5c	1484
thedo	166:3a9487d57a5c	1485	findContours(thresholdImg,contours,CV_RETR_EXTERNAL,
thedo	166:3a9487d57a5c	1486	CV_CHAIN_APPROX_SIMPLE,Point(0,0));
thedo	166:3a9487d57a5c	1487
thedo	166:3a9487d57a5c	1488	if(contours.size() > 0)
thedo	166:3a9487d57a5c	1489	{
thedo	166:3a9487d57a5c	1490	//togle_led(LED_GREEN);
thedo	166:3a9487d57a5c	1491	maxIndex = 0;
thedo	166:3a9487d57a5c	1492	vector<vector<int> > hull(contours.size());
thedo	166:3a9487d57a5c	1493	vector<vector<Vec4i> > convDef(contours.size());
thedo	166:3a9487d57a5c	1494	vector<vector<Point> > hull_point(contours.size());
thedo	166:3a9487d57a5c	1495	vector<vector<Point> > detectPoint(contours.size());
thedo	166:3a9487d57a5c	1496
thedo	166:3a9487d57a5c	1497	for(int i = 0;i < contours.size();i++)
thedo	166:3a9487d57a5c	1498	{
thedo	166:3a9487d57a5c	1499	area = contourArea(contours[i]);
thedo	166:3a9487d57a5c	1500	lArea = long(area);
thedo	166:3a9487d57a5c	1501	if(lArea > maxArea)
thedo	166:3a9487d57a5c	1502	{
thedo	166:3a9487d57a5c	1503	hullSize++;
thedo	166:3a9487d57a5c	1504	maxArea = lArea;
thedo	166:3a9487d57a5c	1505	maxIndex = i;
thedo	166:3a9487d57a5c	1506	}
thedo	166:3a9487d57a5c	1507	}
thedo	166:3a9487d57a5c	1508
thedo	166:3a9487d57a5c	1509	if(maxArea > 50000)
thedo	166:3a9487d57a5c	1510	{
thedo	166:3a9487d57a5c	1511	//togle_reset(LED_RED,LED_BLUE);
thedo	166:3a9487d57a5c	1512	checkPoint.detecthand = 1;
thedo	166:3a9487d57a5c	1513	convexHull(Mat(contours[maxIndex]),hull[maxIndex],false);
thedo	166:3a9487d57a5c	1514	convexityDefects(contours[maxIndex],hull[maxIndex],convDef[maxIndex]);
thedo	166:3a9487d57a5c	1515	}
thedo	166:3a9487d57a5c	1516
thedo	166:3a9487d57a5c	1517	for (int i = 0;i < convDef[maxIndex].size();i++)
thedo	166:3a9487d57a5c	1518	{
thedo	166:3a9487d57a5c	1519	if(convDef[maxIndex][i][3] > 20*256)
thedo	166:3a9487d57a5c	1520	{
thedo	166:3a9487d57a5c	1521	int ind_0 = convDef[maxIndex][i][0];
thedo	166:3a9487d57a5c	1522	int ind_1 = convDef[maxIndex][i][2];
thedo	166:3a9487d57a5c	1523	checkPoint.Pointstart.push_back(contours[maxIndex][ind_0]);
thedo	166:3a9487d57a5c	1524	checkPoint.Pointdepth.push_back(contours[maxIndex][ind_1]);
thedo	166:3a9487d57a5c	1525	checkPoint.Pointindex.push_back(ind_1);
thedo	166:3a9487d57a5c	1526	}
thedo	166:3a9487d57a5c	1527	}
thedo	166:3a9487d57a5c	1528
thedo	166:3a9487d57a5c	1529	vector<Moments> mu(contours.size());
thedo	166:3a9487d57a5c	1530	vector<Point2d> mc(contours.size());
thedo	166:3a9487d57a5c	1531	mu[maxIndex] = moments(contours[maxIndex],false);
thedo	166:3a9487d57a5c	1532	mc[maxIndex] = Point2f(mu[maxIndex].m10 / mu[maxIndex].m00,
thedo	166:3a9487d57a5c	1533	mu[maxIndex].m01 / mu[maxIndex].m00);
thedo	166:3a9487d57a5c	1534	mPa = mc[maxIndex];
thedo	166:3a9487d57a5c	1535
thedo	166:3a9487d57a5c	1536	// Reset values
thedo	166:3a9487d57a5c	1537	lArea = 0;
thedo	166:3a9487d57a5c	1538	maxArea = 0;
thedo	166:3a9487d57a5c	1539	hullSize = 0;
thedo	166:3a9487d57a5c	1540	area = 0;
thedo	166:3a9487d57a5c	1541
thedo	166:3a9487d57a5c	1542
thedo	166:3a9487d57a5c	1543	// Draw contours
thedo	166:3a9487d57a5c	1544	Mat imgContour(LCD_PIXEL_HEIGHT,LCD_PIXEL_WIDTH,CV_8UC1,Scalar(0));
thedo	166:3a9487d57a5c	1545	drawContours(imgContour,contours,maxIndex,Scalar(255));
thedo	166:3a9487d57a5c	1546	for(int i=0;i<imgContour.rows;i++)
thedo	166:3a9487d57a5c	1547	{
thedo	166:3a9487d57a5c	1548	for(int j=0;j<imgContour.cols;j++)
thedo	166:3a9487d57a5c	1549	{
thedo	166:3a9487d57a5c	1550	if(imgContour.at<uchar>(i,j) == 255)
thedo	166:3a9487d57a5c	1551	{
thedo	166:3a9487d57a5c	1552	lMaxContour.push_back(Point(j,i));
thedo	166:3a9487d57a5c	1553	}
thedo	166:3a9487d57a5c	1554	}
thedo	166:3a9487d57a5c	1555	}
thedo	166:3a9487d57a5c	1556
thedo	166:3a9487d57a5c	1557
thedo	166:3a9487d57a5c	1558	}// contours.size() > 0
thedo	166:3a9487d57a5c	1559	else
thedo	166:3a9487d57a5c	1560	{
thedo	166:3a9487d57a5c	1561	checkPoint.detecthand = 0;
thedo	166:3a9487d57a5c	1562	}
thedo	166:3a9487d57a5c	1563
thedo	166:3a9487d57a5c	1564	if(sampling == true)
thedo	166:3a9487d57a5c	1565	{
thedo	166:3a9487d57a5c	1566	if (checkPoint.Pointstart.size() > 1)
thedo	166:3a9487d57a5c	1567	{
thedo	166:3a9487d57a5c	1568	for(int i = 0;i < checkPoint.Pointstart.size() -1;i++)
thedo	166:3a9487d57a5c	1569	{
thedo	166:3a9487d57a5c	1570	float pAngle = getAngle(checkPoint.Pointstart[i],mPa,
thedo	166:3a9487d57a5c	1571	checkPoint.Pointstart[i+1]);
thedo	166:3a9487d57a5c	1572	float fAngle = getAngle(checkPoint.Pointstart[1],mPa,
thedo	166:3a9487d57a5c	1573	checkPoint.Pointstart[i+1]);
thedo	166:3a9487d57a5c	1574
thedo	166:3a9487d57a5c	1575	if(pAngle < 90.00 && pAngle > 5.00 && fAngle < 180)
thedo	166:3a9487d57a5c	1576	{
thedo	166:3a9487d57a5c	1577	double pFdist = distanceP2P(mPa,
thedo	166:3a9487d57a5c	1578	checkPoint.Pointstart[i]);
thedo	166:3a9487d57a5c	1579	double pLdist = distanceP2P(mPa,
thedo	166:3a9487d57a5c	1580	checkPoint.Pointdepth[i]);
thedo	166:3a9487d57a5c	1581	double _Pmax = handdist.hand_max;
thedo	166:3a9487d57a5c	1582	double _Pmin = handdist.hand_min;
thedo	166:3a9487d57a5c	1583	if (pFdist > pLdist)
thedo	166:3a9487d57a5c	1584	{
thedo	166:3a9487d57a5c	1585	if (pFdist > _Pmax)
thedo	166:3a9487d57a5c	1586	{
thedo	166:3a9487d57a5c	1587	handdist.hand_max = pFdist;
thedo	166:3a9487d57a5c	1588	}
thedo	166:3a9487d57a5c	1589	if (pLdist < _Pmin)
thedo	166:3a9487d57a5c	1590	{
thedo	166:3a9487d57a5c	1591	handdist.hand_min = pLdist;
thedo	166:3a9487d57a5c	1592	}
thedo	166:3a9487d57a5c	1593	}
thedo	166:3a9487d57a5c	1594	else
thedo	166:3a9487d57a5c	1595	{
thedo	166:3a9487d57a5c	1596	if (pLdist > _Pmin)
thedo	166:3a9487d57a5c	1597	{
thedo	166:3a9487d57a5c	1598	handdist.hand_max = pLdist;
thedo	166:3a9487d57a5c	1599	}
thedo	166:3a9487d57a5c	1600	if (pFdist < _Pmin)
thedo	166:3a9487d57a5c	1601	{
thedo	166:3a9487d57a5c	1602	handdist.hand_min = pFdist;
thedo	166:3a9487d57a5c	1603	}
thedo	166:3a9487d57a5c	1604	}
thedo	166:3a9487d57a5c	1605	}
thedo	166:3a9487d57a5c	1606	}
thedo	166:3a9487d57a5c	1607	}
thedo	166:3a9487d57a5c	1608	}//sampling == true
thedo	166:3a9487d57a5c	1609	else
thedo	166:3a9487d57a5c	1610	{
thedo	166:3a9487d57a5c	1611	if(checkPoint.detecthand == 1)
thedo	166:3a9487d57a5c	1612	{
thedo	166:3a9487d57a5c	1613	if (checkPoint.Pointstart.size() > 1)
thedo	166:3a9487d57a5c	1614	{
thedo	166:3a9487d57a5c	1615	for(int i = 0;i < checkPoint.Pointstart.size() -1;i++)
thedo	166:3a9487d57a5c	1616	{
thedo	166:3a9487d57a5c	1617	float pAngle = getAngle(checkPoint.Pointstart[i],mPa,
thedo	166:3a9487d57a5c	1618	checkPoint.Pointstart[i+1]);
thedo	166:3a9487d57a5c	1619	float fAngle = getAngle(checkPoint.Pointstart[1],mPa,
thedo	166:3a9487d57a5c	1620	checkPoint.Pointstart[i+1]);
thedo	166:3a9487d57a5c	1621
thedo	166:3a9487d57a5c	1622	// Draw line
thedo	166:3a9487d57a5c	1623	mLine aLine;
thedo	166:3a9487d57a5c	1624	aLine.x1 = (int)checkPoint.Pointstart[i].x;
thedo	166:3a9487d57a5c	1625	aLine.y1 = (int)checkPoint.Pointstart[i].y;
thedo	166:3a9487d57a5c	1626	aLine.x2 = (int)mPa.x;
thedo	166:3a9487d57a5c	1627	aLine.y2 = (int)mPa.y;
thedo	166:3a9487d57a5c	1628	aLine.color[0] = 0x00;//Color red
thedo	166:3a9487d57a5c	1629	aLine.color[1] = 0xFF;
thedo	166:3a9487d57a5c	1630	lLines.push_back(aLine);
thedo	166:3a9487d57a5c	1631	//line(showRes,checkPoint.Pointstart[i],mPa,
thedo	166:3a9487d57a5c	1632	// Scalar(255,255,0));
thedo	166:3a9487d57a5c	1633	//Draw circle
thedo	166:3a9487d57a5c	1634	mCircle cir;
thedo	166:3a9487d57a5c	1635	cir.x = (int)checkPoint.Pointstart[i].x;
thedo	166:3a9487d57a5c	1636	cir.y = (int)checkPoint.Pointstart[i].y;
thedo	166:3a9487d57a5c	1637	cir.radius = 10;
thedo	166:3a9487d57a5c	1638	cir.color[0] = 0xF0;
thedo	166:3a9487d57a5c	1639	cir.color[1] = 0xF0;//Color green
thedo	166:3a9487d57a5c	1640	lCircles.push_back(cir);
thedo	166:3a9487d57a5c	1641
thedo	166:3a9487d57a5c	1642
thedo	166:3a9487d57a5c	1643	//circle(showRes,checkPoint.Pointstart[i],10,
thedo	166:3a9487d57a5c	1644	// Scalar(0,255,0));
thedo	166:3a9487d57a5c	1645
thedo	166:3a9487d57a5c	1646	if(pAngle < 90.00 && pAngle > 5.00 && fAngle < 180)
thedo	166:3a9487d57a5c	1647	{
thedo	166:3a9487d57a5c	1648	double pFdist = distanceP2P(mPa,
thedo	166:3a9487d57a5c	1649	checkPoint.Pointstart[i]);
thedo	166:3a9487d57a5c	1650	if(pFdist > (handdist.hand_min + 110) &&
thedo	166:3a9487d57a5c	1651	pFdist < (handdist.hand_max + 40))
thedo	166:3a9487d57a5c	1652	{
thedo	166:3a9487d57a5c	1653	isFinger = true;
thedo	166:3a9487d57a5c	1654	//line(showRes,checkPoint.Pointstart[i],mPa,Scalar(255,255,255));
thedo	166:3a9487d57a5c	1655	aLine.x1 = (int)checkPoint.Pointstart[i].x;
thedo	166:3a9487d57a5c	1656	aLine.y1 = (int)checkPoint.Pointstart[i].y;
thedo	166:3a9487d57a5c	1657	aLine.x2 = (int)mPa.x;
thedo	166:3a9487d57a5c	1658	aLine.y2 = (int)mPa.y;// Keep color red
thedo	166:3a9487d57a5c	1659	lLines.push_back(aLine);
thedo	166:3a9487d57a5c	1660
thedo	166:3a9487d57a5c	1661	oneFinger++;
thedo	166:3a9487d57a5c	1662	}
thedo	166:3a9487d57a5c	1663	else
thedo	166:3a9487d57a5c	1664	{
thedo	166:3a9487d57a5c	1665	isFinger = false;
thedo	166:3a9487d57a5c	1666	}
thedo	166:3a9487d57a5c	1667
thedo	166:3a9487d57a5c	1668	if(isFinger == true)
thedo	166:3a9487d57a5c	1669	{
thedo	166:3a9487d57a5c	1670	//circle(showRes,mPa,handdist.hand_min,Scalar(255,0,0));
thedo	166:3a9487d57a5c	1671	cir.x = (int)mPa.x;
thedo	166:3a9487d57a5c	1672	cir.y = (int)mPa.y;
thedo	166:3a9487d57a5c	1673	cir.radius = (int)handdist.hand_min;
thedo	166:3a9487d57a5c	1674	lCircles.push_back(cir);//color green
thedo	166:3a9487d57a5c	1675
thedo	166:3a9487d57a5c	1676	//circle(showRes,mPa,handdist.hand_min + 110,Scalar(255,0,0));
thedo	166:3a9487d57a5c	1677	cir.radius = (int)handdist.hand_min + 110;
thedo	166:3a9487d57a5c	1678	lCircles.push_back(cir);//color green
thedo	166:3a9487d57a5c	1679
thedo	166:3a9487d57a5c	1680	double pLdist = distanceP2P(mPa,checkPoint.Pointdepth[i]);
thedo	166:3a9487d57a5c	1681	if(pLdist > handdist.hand_min - 5)
thedo	166:3a9487d57a5c	1682	{
thedo	166:3a9487d57a5c	1683	countFinger++;
thedo	166:3a9487d57a5c	1684	//circle(showRes,contours[maxIndex][checkPoint.Pointindex[i]],2,Scalar(0,255,255));
thedo	166:3a9487d57a5c	1685	cir.x = (int)contours[maxIndex][checkPoint.Pointindex[i]].x;
thedo	166:3a9487d57a5c	1686	cir.y = (int)contours[maxIndex][checkPoint.Pointindex[i]].y;
thedo	166:3a9487d57a5c	1687	cir.radius = 2;
thedo	166:3a9487d57a5c	1688	lCircles.push_back(cir);//color green
thedo	166:3a9487d57a5c	1689	}
thedo	166:3a9487d57a5c	1690	}
thedo	166:3a9487d57a5c	1691	}
thedo	166:3a9487d57a5c	1692	}// for
thedo	166:3a9487d57a5c	1693	if(isFinger == false)
thedo	166:3a9487d57a5c	1694	{
thedo	166:3a9487d57a5c	1695	for(int i = 0; i < checkPoint.Pointstart.size() -1;i++)
thedo	166:3a9487d57a5c	1696	{
thedo	166:3a9487d57a5c	1697	double pLdist = distanceP2P(mPa,
thedo	166:3a9487d57a5c	1698	checkPoint.Pointdepth[i]);
thedo	166:3a9487d57a5c	1699	if (pLdist > (handdist.hand_min - 5))
thedo	166:3a9487d57a5c	1700	{
thedo	166:3a9487d57a5c	1701	countFinger = 0;
thedo	166:3a9487d57a5c	1702	isFinger = true;
thedo	166:3a9487d57a5c	1703	}
thedo	166:3a9487d57a5c	1704	}
thedo	166:3a9487d57a5c	1705	}
thedo	166:3a9487d57a5c	1706	}//checkPoint.Pointstart.size() > 1
thedo	166:3a9487d57a5c	1707	}//checkPoint.detecthand == 1
thedo	166:3a9487d57a5c	1708	}
thedo	166:3a9487d57a5c	1709
thedo	166:3a9487d57a5c	1710	// Draw
thedo	166:3a9487d57a5c	1711	mMutexObjects.lock();
thedo	166:3a9487d57a5c	1712	if(gIsDrawing == false)
thedo	166:3a9487d57a5c	1713	{
thedo	166:3a9487d57a5c	1714	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1715
thedo	166:3a9487d57a5c	1716	// Assign data
thedo	166:3a9487d57a5c	1717	gGestureResult.circles = lCircles;
thedo	166:3a9487d57a5c	1718	gGestureResult.lines = lLines;
thedo	166:3a9487d57a5c	1719	gGestureResult.contour = lMaxContour;
thedo	166:3a9487d57a5c	1720
thedo	166:3a9487d57a5c	1721	gIsDrawing = true;
thedo	166:3a9487d57a5c	1722	p_DrawObjects->signal_set(1);
thedo	166:3a9487d57a5c	1723	}
thedo	166:3a9487d57a5c	1724	else
thedo	166:3a9487d57a5c	1725	{
thedo	166:3a9487d57a5c	1726	mMutexObjects.unlock();
thedo	166:3a9487d57a5c	1727	}
thedo	166:3a9487d57a5c	1728
thedo	166:3a9487d57a5c	1729	mMutexProcess.lock();
thedo	166:3a9487d57a5c	1730	gIsProcessing = false;
thedo	166:3a9487d57a5c	1731	mMutexProcess.unlock();
thedo	166:3a9487d57a5c	1732
thedo	166:3a9487d57a5c	1733	/* Clean cache */
thedo	166:3a9487d57a5c	1734	dcache_clean(user_buf_draw_action_888,
thedo	166:3a9487d57a5c	1735	sizeof(user_buf_draw_action_888));
thedo	166:3a9487d57a5c	1736	}
thedo	166:3a9487d57a5c	1737	}
thedo	166:3a9487d57a5c	1738
thedo	169:bdaa9537e072	1739	/* Init a block on RAM to store file */
thedo	169:bdaa9537e072	1740	HeapBlockDevice myBd(2128 512, 512);// ~128 Kb
thedo	169:bdaa9537e072	1741
thedo	166:3a9487d57a5c	1742	/**** main image process here****/
thedo	166:3a9487d57a5c	1743	int main(void) {
thedo	169:bdaa9537e072	1744
thedo	169:bdaa9537e072	1745	/* Format block on RAM */
thedo	169:bdaa9537e072	1746	if(FATFileSystem::format(&myBd))
thedo	169:bdaa9537e072	1747	{
thedo	169:bdaa9537e072	1748	togle_led(LED_RED);
thedo	169:bdaa9537e072	1749	}
thedo	169:bdaa9537e072	1750	else
thedo	169:bdaa9537e072	1751	{
thedo	169:bdaa9537e072	1752	togle_led(LED_GREEN);
thedo	169:bdaa9537e072	1753	}
thedo	169:bdaa9537e072	1754	FATFileSystem myFs(STORAGE_NAME,&myBd); /* Start the block*/
thedo	169:bdaa9537e072	1755
thedo	169:bdaa9537e072	1756	/* Create file .xml*/
thedo	169:bdaa9537e072	1757	if(arr2File(haar_cascafe_frontal_face,HAAR_FILE_SIZE,HAAR_CASCADE_FACE_PATH))
thedo	169:bdaa9537e072	1758	{
thedo	169:bdaa9537e072	1759	togle_led(LED_BLUE);
thedo	169:bdaa9537e072	1760	}
thedo	169:bdaa9537e072	1761	else
thedo	169:bdaa9537e072	1762	{
thedo	169:bdaa9537e072	1763	togle_led(LED_RED);
thedo	169:bdaa9537e072	1764	}
thedo	169:bdaa9537e072	1765
thedo	166:3a9487d57a5c	1766	/* Init SD card*/
thedo	169:bdaa9537e072	1767	/*myStorage = new cStorage(SDCARD_NAME);
thedo	166:3a9487d57a5c	1768	if( initSdCard() == false)
thedo	166:3a9487d57a5c	1769	{
thedo	166:3a9487d57a5c	1770	while(1);
thedo	169:bdaa9537e072	1771	}*/
thedo	169:bdaa9537e072	1772
thedo	166:3a9487d57a5c	1773	/* Initialization of LCD */
thedo	166:3a9487d57a5c	1774	Init_LCD_Display(); /* When using LCD, please call before than Init_Video(). */
thedo	166:3a9487d57a5c	1775
thedo	166:3a9487d57a5c	1776	/* Initialization of Video */
thedo	166:3a9487d57a5c	1777	Init_Video();
thedo	166:3a9487d57a5c	1778
thedo	166:3a9487d57a5c	1779	/* Start Video and Lcd processing */
thedo	166:3a9487d57a5c	1780	p_VideoLcdTask = new Thread();
thedo	166:3a9487d57a5c	1781	p_VideoLcdTask->start(video_lcd_task);
thedo	166:3a9487d57a5c	1782
thedo	166:3a9487d57a5c	1783	p_Touch = new Thread();
thedo	166:3a9487d57a5c	1784	p_Touch->start(touch_task);
thedo	166:3a9487d57a5c	1785
thedo	166:3a9487d57a5c	1786	/* Start image processor*/
thedo	166:3a9487d57a5c	1787	p_DrawObjects = new Thread();
thedo	166:3a9487d57a5c	1788	p_DrawObjects->signal_set(0);
thedo	166:3a9487d57a5c	1789	p_DrawObjects->start(img_draw_objects);
thedo	166:3a9487d57a5c	1790
thedo	166:3a9487d57a5c	1791	initDrawAction32();
thedo	168:3efe7c3d1dd7	1792
thedo	166:3a9487d57a5c	1793	while(1)
thedo	166:3a9487d57a5c	1794	{
thedo	166:3a9487d57a5c	1795	switch(appMode)
thedo	166:3a9487d57a5c	1796	{
thedo	166:3a9487d57a5c	1797	case FACE_DETECTION:
thedo	166:3a9487d57a5c	1798	{
thedo	166:3a9487d57a5c	1799	faceDectectionApp();
thedo	166:3a9487d57a5c	1800	break;
thedo	166:3a9487d57a5c	1801	}
thedo	166:3a9487d57a5c	1802	case MOTION_DETECTION:
thedo	166:3a9487d57a5c	1803	{
thedo	166:3a9487d57a5c	1804	motionDetectionApp();
thedo	166:3a9487d57a5c	1805	break;
thedo	166:3a9487d57a5c	1806	}
thedo	166:3a9487d57a5c	1807	case FACE_RECOGNITION:
thedo	166:3a9487d57a5c	1808	{
thedo	166:3a9487d57a5c	1809	faceRecognitionApp();
thedo	166:3a9487d57a5c	1810	break;
thedo	166:3a9487d57a5c	1811	}
thedo	166:3a9487d57a5c	1812	case GUESTURE_RECOGNITION:
thedo	166:3a9487d57a5c	1813	{
thedo	166:3a9487d57a5c	1814	gestureRegconition();
thedo	166:3a9487d57a5c	1815	break;
thedo	166:3a9487d57a5c	1816	}
thedo	166:3a9487d57a5c	1817	default:
thedo	166:3a9487d57a5c	1818	{
thedo	166:3a9487d57a5c	1819	wait(0.5);
thedo	166:3a9487d57a5c	1820	break;
thedo	166:3a9487d57a5c	1821	}
thedo	166:3a9487d57a5c	1822	}
thedo	166:3a9487d57a5c	1823	}
thedo	166:3a9487d57a5c	1824	return 1;
thedo	166:3a9487d57a5c	1825	}

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Type:	Program
Created:	04 Jul 2017
Imports:	5
Forks:	1
Commits:	171
Dependents:	0
Dependencies:	0
Followers:	4

main.cpp@170:54ff26da7eb6, 2017-07-04 (annotated)

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