tictaccam_backup.mm

/*Instantiates camera and returns the camera object*/
function proj_getCam(){
	cam = LT_C920(:file = "/dev/video0");
};


/*function that streams live image*/
function proj_camStream(cam){
	v4l2_streamoff(cam);	
	v4l2_streamon(cam);
	for(Tk_Button_Set(:text="Grab1", :bell=t);
    	!Tk_Button_Pressed();
    	gshow(img1=v4l2_grab(cam),:tk_img="ltech",:update_now=t));
	v4l2_streamoff(cam);
	x;
};

/*function grabs an image and returns an image object*/
function proj_grabImage(cam){
	v4l2_streamon(cam);    	
   img=v4l2_grab(cam);
   gshow(img,:rescale=t);
	v4l2_streamoff(cam);
	img;
};

/*function inputs an image and displays it*/
function proj_showImage(img){
	gshow(img,:rescale=t);
};

/*function inputs two images and returns x,y of the center of gravity of the new image*/
function proj_getCenter(img1,img2)
	"Find the center of gravity of an object denoted by img1 and img2"
{
    /*gshow(img1,:rescale=t);*/
    /*gshow(img2,:rescale=t);*/
	/*Take average of the RGB of each image, changes to gray scale*/
	img1 = (img1->r + img1->g + img1->b)/3.0;
	img2 = (img2->r + img2->g + img2->b)/3.0;
	/*Background subtraction between the images*/
	imd = img2-img1;
	/*dot product of the matrix with itself?*/
	imd*=imd;
	/*gshow(imd,:rescale=t);*/
	/*makes absolutely no sense*/
	imbin = imd>1500;
	/* same image but the additional image is labeled?*/
	imgcc = con_compon(imbin);
	/*gshow(imgcc,:rescale=t);*/

	gg = mk_uctmpl2(-1..1,-1..1,[[1,1,1],[1,1,1],[1,1,1]]);

	imbin1 = imbin(*)gg;
	imbin1 = imbin1(*)gg;
	imbin1 = ~( (~imbin1)(*)gg);
	imbin1 = ~( (~imbin1)(*)gg);
	/*gshow(imbin1,:rescale=t);*/

	imbin1 = ~( (~imbin1)(*)gg);
	imbin1 = ~( (~imbin1)(*)gg);
	imbin1 = imbin1(*)gg;
	imbin1 = imbin1(*)gg;
	/*gshow(imbin1,:rescale=t);*/

	imgcc = con_compon(imbin1);
	obj1img = select_iimg(imgcc,1);
	
	/*gshow(obj1img,:rescale = t);*/

	o1 = to_fimg(obj1img);

	sz = sum_fimg(o1); 

	c_x = sum_fimg(o1*x_img(o1->vsize,o1->hsize))/sz;

	c_y = sum_fimg(o1*y_img(o1->vsize,o1->hsize))/sz;

	printf("x:%f y:%f\n",c_x,c_y);
	xx = to_int(c_x);
	yy = to_int(c_y);
	obj1img[yy,xx] = 0;
	gshow(obj1img,:rescale=t);
	

	/* Return array with x, y of center of mass */

	mk_fvec(1..2, [c_x, c_y]);
};

/*function takes a list and displays the content*/
function proj_prtList(list){	

	for(x=1;x<=list->vsize;x++){
   	printf("=> %d\n",list[x]);
   };
};

/*prints an image variable to a file*/
function proj_writeImage(img,name){
	ppm = ".ppm";
	/*location = "/eecs/home/hydramin/Documents/4421/Project//testWork/exper/";*/
	location = "/eecs/home/hydramin/Documents/4421/Project/TicTacToe/testWork/exper/";
	file = str_concat(location,name,ppm);
	write_img(img,file);
};

/*Reads an image from location provided*/
/*read_img("absolute path");*/

/*gets the robot out of the way of the camera, vertically upward*/
function proj_readyPos(){
    rob_move_abs(0,90,0,0,0);
    servo_open(30);    
};

/*given 2 3x3 matrices for the center of gravities, print them merged*/
function proj_prtCenters(xm,ym){
    for(i=1;i<=3;i++){
        for(j=1;j<=3;j++){
            printf("(%.2f,%.2f) ",xm[i,j],ym[i,j]);
        };
        printf("\n");
    };
};

/*input the refX,refY matrices and a point, calculate the distance from each point*/
/*this calculates the pixle distance*/
function proj_getDistance(xm,ym,pt){
    
    /*dx is refX - ptx*/
    dx = xm - inner_fillMat(pt[1]);
    dy = ym - inner_fillMat(pt[2]);
    dxsq = inner_squareMat(dx);
    dysq = inner_squareMat(dy);
    dxysum = dxsq + dysq;
    /*dxyfinal contains distance of the point pt from each of the reference center of gravities*/
    dxyfinal = inner_sqrtMat(dxysum);
    inner_prtMat(dxyfinal);
    dxyfinal;
};

/*given a distance matrix 3x3, outputs the entry index as vector (r,c) with the min value*/
function proj_getMinIndex(mat){
    index = mk_ivec(1..2,[0,0]);
    min = mat[1,1];
    for(i = 1;i<=3;i++){
        for(j = 1;j<=3;j++){
           if(mat[i,j] < min){
                min = mat[i,j];
                index[1] = i;
                index[2] = j;
           }; 
        };
    };
    index;
};


/*square each values of a matrix*/
function inner_squareMat(mat){
    mat1 = mk_fmat(1..3,1..3);
    for(i = 1;i<=3;i++){
        for(j = 1;j<=3;j++){
           mat1[i,j] = mat[i,j]^2;
        };
    };            
    /*inner_prtMat(mat1);*/
    mat1;
};

/*square roots each entry of a 3x3 matrix*/
function inner_sqrtMat(mat){
    mat1 = mk_fmat(1..3,1..3);
    for(i = 1;i<=3;i++){
        for(j = 1;j<=3;j++){
           mat1[i,j] = sqrt(mat[i,j]);           
        };
    };
    /*inner_prtMat(mat1);*/
    mat1;
};

function inner_prtMat(mat){
    for(i=1;i<=3;i++){
        for(j=1;j<=3;j++){
            printf("%.2f ",mat[i,j]);
        };
        printf("\n");
    };
    0;
};

/*generates a 3x3 square matrix filled with the input param*/
function inner_fillMat(x){
    mat = mk_fmat(1..3,1..3,[[x,x,x],[x,x,x],[x,x,x]]);
};