added code for iplimage and removed seg faults

p-kar · Nov 21, 2013 · 361deca · 361deca
1 parent 3b3380b
commit 361deca
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Showing 315 changed files with 2,545 additions and 43 deletions.
diff --git a/histograms/histogram_iplimage b/histograms/histogram_iplimage
diff --git a/histograms/histogram_iplimage.cpp b/histograms/histogram_iplimage.cpp
@@ -130,7 +130,7 @@ int main()
         // Mat img_bgr (Size(752,480),CV_8UC3);
         IplImage* img_hsv = cvCreateImage(cvSize(752,480),8,3);                        //Image in HSV color space
         IplImage* threshy = cvCreateImage(cvSize(752,480),8,1);                                //Threshed Image
-        IplImage* labelImg = cvCreateImage(cvSize(752,480),8,1);        //Image Variable for blobs
+        // IplImage* labelImg = cvCreateImage(cvSize(752,480),8,1);        //Image Variable for blobs
         IplImage* histogram= cvCreateImage(cvSize(752,480),8,3);                        //Image histograms
         // IplImage* histograms = cvCreateImage(cvSize(752,480),8,1);         //greyscale image for histogram
         IplImage* empty = cvCreateImage(cvSize(752,1),8,1);   
@@ -142,6 +142,7 @@ int main()
 
         while(1)
         {
+            // printf("1\n");
                 getFrame(hCam,frame);
                 // cam.RetrieveBuffer(&rawImage);
                 // memcpy(frame.data, rawImage.GetData(), rawImage.GetDataSize());
@@ -179,16 +180,18 @@ int main()
 
                 for(int x=0;x<752;++x)
                 {
-                        // IplImage* col = cvGetCol(threshy,col,x);
-                        IplImage* copy = cvCreateImage(cvSize(752,480),8,1);
-                        cvCopy(copy,threshy);
-                        // cvSetImageROI(copy,cvRect(x,0,x+1,480));
+                    // printf("%d\n", x);
+                    // printf("2\n");
+                        cvSetImageROI(threshy,cvRect(x,0,1,480));
+                        IplImage* copy = cvCreateImage(cvGetSize(threshy),8,1);
+                        cvCopy(threshy,copy,NULL);
+                        cvResetImageROI(threshy);
                         int y = cvCountNonZero(copy);
-                        if(max<y)
+                        if(max<=y)
                             max=y;
                         // for(int j=0 ;j<img.rows;++j)
                             // img.at<uchar>(0,x) = y;
-                        returnPixel1C(img,0,x) = y;
+                        returnPixel1C(img,x,0) = y;
                         CvPoint next = cvPoint(x,480-y);
                         // cvLine(histogram,prev,next,cColor);
                         // // cvCircle(histogram,next,2,cColor,3);
@@ -204,27 +207,32 @@ int main()
 
                 for(int i=0;i<752;++i)
                 {
-                    int color = returnPixel1C(img,0,i);
+                    // printf("3\n");
+                    int color = returnPixel1C(img,i,0);
                     CvPoint next = cvPoint(i,480-color);
                     cvLine(histogram,prev,next,cColor);
                     prev = next;
                 }
                 // printf("%n\n", &threshold);
                 for(int i=0;i<752;++i)
                 {
+                    // printf("4\n");
                     int counter=0;
-                    if(returnPixel1C(img,0,i)>threshold)
+                    if(returnPixel1C(img,i,0)>threshold)
                     {
                         int peak = 0;
                         int color = 0;                        
                         while(1)
                         {
-                            if(returnPixel1C(img,0,i)<threshold)
+                            // printf("5\n");
+                            if(i>=752)
                                 break;
-                            if(returnPixel1C(img,0,i)>color)
+                            if(returnPixel1C(img,i,0)<threshold)
+                                break;
+                            if(returnPixel1C(img,i,0)>color)
                             {
                                 peak = i;
-                                color = returnPixel1C(img,0,i);
+                                color = returnPixel1C(img,i,0);
                             }
                             ++i;
                         }
@@ -244,13 +252,14 @@ int main()
 
                 if(c == 27)
                     break;
+                // printf("6\n");
         }
-
+        exitCam(hCam);
         // Cleanup
         cvReleaseImage(&frame);
         cvReleaseImage(&threshy);
         cvReleaseImage(&img_hsv);
-        cvReleaseImage(&labelImg);
+        // cvReleaseImage(&labelImg);
         cvReleaseImage(&histogram);
         cvDestroyAllWindows();
         return 0;

diff --git a/histograms/histogram_ueye b/histograms/histogram_ueye
diff --git a/histograms/histogram_ueye.cpp b/histograms/histogram_ueye.cpp
@@ -20,7 +20,7 @@ using namespace cv;
 char* imgPointer = NULL;
 int imgMemPointer;
 
-// enum CamError {CAM_SUCCESS = 1, CAM_FAILURE = 0};
+enum CamError {CAM_SUCCESS = 1, CAM_FAILURE = 0};
 
 CvScalar cColor = CV_RGB(255, 255, 255);
 CvScalar cColor1 = CV_RGB(255,0,0);
@@ -67,21 +67,21 @@ int setImgMem(HIDS hCam)
     {
         is_GetError (hCam, &err, &errMsg);
         printf("MemAlloc Unsuccessful %d: %s\n",err,errMsg);
-        return EXIT_FAILURE;
+        return CAM_FAILURE;
     }
 
     nRet = is_SetImageMem (hCam, imgPointer, imgMemPointer);
     if(nRet != IS_SUCCESS)
     {
         is_GetError (hCam, &err, &errMsg);
         printf("Could not set/activate image memory %d: %s\n",err, errMsg);
-        return EXIT_FAILURE;
+        return CAM_FAILURE;
     }
 
     return EXIT_SUCCESS;
 }
 
-void getFrame(HIDS hCam, Mat frame)
+bool getFrame(HIDS hCam, Mat frame)
 {
     char* errMsg = (char*)malloc(sizeof(char)*200);
     int err = 0;
@@ -92,12 +92,15 @@ void getFrame(HIDS hCam, Mat frame)
     {
         is_GetError (hCam, &err, &errMsg);
         printf("Could not grab image %d: %s\n",err,errMsg);
-        //return EXIT_FAILURE;
+        return CAM_FAILURE;
     }
-
+    else
+    {
+        memcpy(frame.data, imgPointer, 752*480 * 3);
+        return CAM_SUCCESS;  
+    }      
     //fill in the OpenCV imaga data 
-    //IplImage* img_rgb = cvCreateImage(cvSize(752,480),8,3);
-    memcpy(frame.data, imgPointer, 752*480 * 3);
+    //IplImage* img_rgb = cvCreateImage(cvSize(752,480),8,3)
     //img_rgb->imageData = imgPointer;
     //return img_rgb;
 }
@@ -117,26 +120,25 @@ int main()
          //INITIALIZE CAMERA
         HIDS hCam = 1;
         initializeCam(hCam);
-        setImgMem(hCam);
-
-        //Image Variables
-        Mat frame (Size(752,480),CV_8UC3);
-        Mat img_bgr (Size(752,480),CV_8UC3);
-        Mat img_hsv (Size(752,480),CV_8UC3);                        //Image in HSV color space
-        Mat threshy (Size(752,480),CV_8UC1);                                //Threshed Image
-        // Mat labelImg (Size(752,480),CV_8UC1);        //Image Variable for blobs
-        IplImage* histogram= cvCreateImage(cvSize(752,480),8,3);                        //Image histograms
-        Mat histograms (Size(752,480),CV_8UC1);         //greyscale image for histogram
-        Mat empty (Size(752,1),CV_8UC1);   
-        Mat img (Size(752,1),CV_8UC1);               //image colours (histogram)       
-
-
+        setImgMem(hCam); 
+         //Image Variables
+                Mat frame = Mat(Size(752,480),CV_8UC3);
+                // Mat img_bgr (Size(752,480),CV_8UC3);
+                Mat img_hsv = Mat(Size(752,480),CV_8UC3);                        //Image in HSV color space
+                Mat threshy = Mat(Size(752,480),CV_8UC1);                                //Threshed Image
+                // Mat labelImg (Size(752,480),CV_8UC1);        //Image Variable for blobs
+                IplImage* histogram= cvCreateImage(cvSize(752,480),8,3);                        //Image histograms
+                // Mat histograms (Size(752,480),CV_8UC1);         //greyscale image for histogram
+                Mat empty = Mat(Size(752,1),CV_8UC1);   
+                Mat img = Mat(Size(752,1),CV_8UC1);               //image colours (histogram)       
 
         // CvBlobs blobs;
 
         while(1)
         {
-                getFrame(hCam,frame);
+
+                if(getFrame(hCam,frame) == CAM_FAILURE)
+                    continue;
                 // cam.RetrieveBuffer(&rawImage);
                 // memcpy(frame.data, rawImage.GetData(), rawImage.GetDataSize());
                 // histogram = empty.clone();
@@ -192,15 +194,18 @@ int main()
                     cvLine(histogram,prev,next,cColor);
                     prev = next;
                 }
-                // printf("%n\n", &threshold);
+                // printf("%n\n",histograms &threshold);
+                int counter  = 0;
                 for(int i=0;i<752;++i)
                 {
                     if(img.at<uchar>(0,i)>threshold)
                     {
                         int peak = 0;
                         int color = 0;
                         while(1)
-                        {
+                        {                     
+                            if(i>=752)
+                                break;
                             if(img.at<uchar>(0,i)<threshold)
                                 break;
                             if(img.at<uchar>(0,i)>color)
@@ -211,6 +216,11 @@ int main()
                             ++i;
                         }
                         line(frame,cvPoint(peak,0),cvPoint(peak,480),cColor1);
+                        ++counter;
+                        if(counter == 1)
+                            putText(frame, "GP1", cvPoint(peak,240), FONT_HERSHEY_SIMPLEX, 0.3, cvScalar(255,255,0), 1, CV_AA);
+                        if(counter == 2)
+                             putText(frame, "GP2", cvPoint(peak,240), FONT_HERSHEY_SIMPLEX, 0.3, cvScalar(255,255,0), 1, CV_AA);
                     }
                 }
 
@@ -224,14 +234,15 @@ int main()
 
                 if(c == 27)
                     break;
-        }
 
-        //Cleanup
+        }
+        exitCam(hCam);
+        // Cleanup
         // cvReleaseImage(&frame);
         // cvReleaseImage(&threshy);
         // cvReleaseImage(&img_hsv);
         // cvReleaseImage(&labelImg);
         // cvReleaseImage(&histogram);
-        cvDestroyAllWindows();
+        // cvDestroyAllWindows();
         return 0;
 }
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/607.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/607.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/608.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/608.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/609.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/609.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/611.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/611.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/612.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/612.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/613.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/613.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/616.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/616.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/617.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/617.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/618.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/618.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/620.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/620.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/621.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/621.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/624.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/624.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/625.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/625.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/626.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/626.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/629.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/629.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/630.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/630.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/631.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/631.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/632.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/632.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/634.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/634.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/636.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/636.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/638.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/638.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/639.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/639.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/640.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/640.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/641.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/641.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/644.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/644.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/645.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/645.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/647.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/647.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/648.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/648.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/649.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/649.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/650.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/650.bmp
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diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/654.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/654.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/655.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/655.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/657.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/657.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/658.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/658.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/659.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/659.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/662.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/662.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/663.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/663.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/664.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/664.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/666.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/666.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/667.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/667.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/668.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/668.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/670.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/670.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/671.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/671.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/672.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/672.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/673.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/673.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/675.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/675.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/676.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/676.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/679.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/679.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/680.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/680.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/681.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/681.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/684.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/684.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/685.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/685.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/686.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/686.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/687.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/687.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/689.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/689.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/690.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/690.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/691.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/691.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/693.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/693.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/694.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/694.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/695.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/695.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/698.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/698.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/699.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/699.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/700.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/700.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/702.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/702.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/703.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/703.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/704.bmp b/inverse_perspective_mapping/calculate constants/trial1/objdis/704.bmp
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis.dat b/inverse_perspective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis.dat
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis.txt b/inverse_perspective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis.txt
@@ -0,0 +1,33 @@
+607			27.832			65.375			1.5385			120
+613			29.59			69.066			1.4286			107
+616			30.469			74.977			1.3333			100
+620			31.641			77.928			1.25			92
+624			32.812			81.619			1.2121			86
+625			33.105			95.372			1.0811			77
+626			33.398			95.442			1.0526			75
+629			34.277			103.11			1			69
+630			34.57			107.65			0.97561			66
+636			36.328			107.27			0.90909			58
+638			36.914			116.57			0.86957			52
+639			37.207			121.77			0.83333			48
+640			37.5			128.1			0.8			44
+645			38.965			129.47			0.74074			40
+647			39.551			133.69			0.71429			37
+648			39.844			139.93			0.68966			33
+653			41.309			149.77			0.625			25
+654			41.602			163.43			0.60606			19
+658			42.773			182.93			0.54795			9
+667			45.41			192.42			0.47619			1
+668			45.703			194.66			0.47059			-0
+670			46.289			212.79			0.44944			-8
+673			47.168			214.73			0.41667			-8
+675			47.754			223.39			0.4			-12
+680			49.219			248.98			0.36364			-22
+684			50.391			265.67			0.33333			-28
+686			50.977			270.46			0.32			-29
+689			51.855			283.56			0.29851			-33
+693			53.027			316.26			0.27778			-45
+695			53.613			342.57			0.25974			-51
+698			54.492			357.03			0.2454			-54
+700			55.078			380.19			0.23529			-62
+700			55.078			380.19			0.23529			-62
diff --git a/...pective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis_interpolated.dat b/...pective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis_interpolated.dat
diff --git a/...pective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis_interpolated.txt b/...pective_mapping/calculate constants/trial1/objdis/acyut_constants_objdis_interpolated.txt
@@ -0,0 +1,95 @@
+607			27.832			65.375			1.5385			120
+608			28.125			65.991			1.5201			117.83
+609			28.418			66.606			1.5018			115.67
+610			28.711			67.221			1.4835			113.5
+611			29.004			67.836			1.4652			111.33
+612			29.297			68.451			1.4469			109.17
+613			29.59			69.066			1.4286			107
+614			29.883			71.037			1.3968			104.67
+615			30.176			73.007			1.3651			102.33
+616			30.469			74.977			1.3333			100
+617			30.762			75.715			1.3125			98
+618			31.055			76.453			1.2917			96
+619			31.348			77.19			1.2708			94
+620			31.641			77.928			1.25			92
+621			31.934			78.851			1.2405			90.5
+622			32.227			79.773			1.2311			89
+623			32.52			80.696			1.2216			87.5
+624			32.812			81.619			1.2121			86
+625			33.105			95.372			1.0811			77
+626			33.398			95.442			1.0526			75
+627			33.691			97.999			1.0351			73
+628			33.984			100.56			1.0175			71
+629			34.277			103.11			1			69
+630			34.57			107.65			0.97561			66
+631			34.863			107.59			0.96452			64.667
+632			35.156			107.53			0.95344			63.333
+633			35.449			107.46			0.94235			62
+634			35.742			107.4			0.93126			60.667
+635			36.035			107.34			0.92018			59.333
+636			36.328			107.27			0.90909			58
+637			36.621			111.92			0.88933			55
+638			36.914			116.57			0.86957			52
+639			37.207			121.77			0.83333			48
+640			37.5			128.1			0.8			44
+641			37.793			128.37			0.78815			43.2
+642			38.086			128.65			0.7763			42.4
+643			38.379			128.92			0.76444			41.6
+644			38.672			129.19			0.75259			40.8
+645			38.965			129.47			0.74074			40
+646			39.258			131.58			0.72751			38.5
+647			39.551			133.69			0.71429			37
+648			39.844			139.93			0.68966			33
+649			40.137			141.9			0.67672			31.4
+650			40.43			143.87			0.66379			29.8
+651			40.723			145.83			0.65086			28.2
+652			41.016			147.8			0.63793			26.6
+653			41.309			149.77			0.625			25
+654			41.602			163.43			0.60606			19
+655			41.895			168.3			0.59153			16.5
+656			42.188			173.18			0.577			14
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+658			42.773			182.93			0.54795			9
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+660			43.359			185.04			0.532			7.2222
+661			43.652			186.09			0.52403			6.3333
+662			43.945			187.15			0.51605			5.4444
+663			44.238			188.2			0.50808			4.5556
+664			44.531			189.26			0.50011			3.6667
+665			44.824			190.31			0.49214			2.7778
+666			45.117			191.37			0.48416			1.8889
+667			45.41			192.42			0.47619			1
+668			45.703			194.66			0.47059			-0
+669			45.996			203.73			0.46001			-4
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+674			47.461			219.06			0.40833			-10
+675			47.754			223.39			0.4			-12
+676			48.047			228.51			0.39273			-14
+677			48.34			233.62			0.38545			-16
+678			48.633			238.74			0.37818			-18
+679			48.926			243.86			0.37091			-20
+680			49.219			248.98			0.36364			-22
+681			49.512			253.15			0.35606			-23.5
+682			49.805			257.33			0.34848			-25
+683			50.098			261.5			0.34091			-26.5
+684			50.391			265.67			0.33333			-28
+685			50.684			268.07			0.32667			-28.5
+686			50.977			270.46			0.32			-29
+687			51.27			274.83			0.31284			-30.333
+688			51.562			279.19			0.30567			-31.667
+689			51.855			283.56			0.29851			-33
+690			52.148			291.73			0.29333			-36
+691			52.441			299.91			0.28814			-39
+692			52.734			308.08			0.28296			-42
+693			53.027			316.26			0.27778			-45
+694			53.32			329.42			0.26876			-48
+695			53.613			342.57			0.25974			-51
+696			53.906			347.39			0.25496			-52
+697			54.199			352.21			0.25018			-53
+698			54.492			357.03			0.2454			-54
+699			54.785			368.61			0.24035			-58
+700			55.078			380.19			0.23529			-62
+700			55.078			380.19			0.23529			-62
diff --git a/inverse_perspective_mapping/calculate constants/trial1/objdis/calculate_constants_objdis b/inverse_perspective_mapping/calculate constants/trial1/objdis/calculate_constants_objdis