Heap problem

#include <iostream>
using namespace std;
 
typedef struct PIN
{
   int a;
   unsigned char* p;
} tagPIN;
 
int main()
{
	//initialize
	PIN* pin_array = new PIN[10];
	for (int i = 0; i < 10; i++)
	{
		pin_array[i].a = i;
		pin_array[i].p = new unsigned char [10];
		for (int j = 0; j < 10; j++)
			pin_array[i].p[j] = 'a' + i + j;
	}
 
	//do something
	for (int i = 0; i < 10; i++)
	{
		cout << pin_array[i].a << " " << pin_array[i].p[2] << endl;
	}
 
	//delete
	for (int i = 0; i < 10; i++)
	{
		delete [] pin_array[i].p;
	}
	delete [] pin_array;
	return 0;
}
                                              

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#include "atlimage.h"
#include <iostream>
#include <fstream>
 
using namespace std;
 
template <typename T>
T **AllocateDynamicArray( int nRows, int nCols)
{
	T **dynamicArray;
	dynamicArray = new T*[nRows];
	for( int i = 0 ; i < nRows ; i++ )
		dynamicArray[i] = new T [nCols];
	return dynamicArray;
}
 
/*
template <typename T>
void FreeDynamicArray(T** dArray)
{
	delete [] *dArray;
	delete [] dArray;
}
*/
 
template <typename T>
void FreeDynamicArray(T** dArray, int nRows)
{
	for( int i = 0 ; i < nRows ; i++ )
		delete [] (dArray[i]);
	delete [] dArray;
}
 
typedef struct PIN
{
	int a;
	PIN* p;
} tagPIN;
 
int main()
{
	PIN** ppArray = AllocateDynamicArray<PIN>(12, 24);
	FreeDynamicArray<PIN>(ppArray, 12);
	return 0;
}
                                              

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class MyArray
{
public:
    MyArray() : buffer(NULL), buffer_size(0) {}
 
    ~MyArray()
    {
        Destroy();
    }
    
    void Init(unsigned int size)
    {
        // make sure its not already initialized
        assert(!buffer);
        // make sure size is bigger than 0
        assert(size > 0);
        buffer_size = size;
        buffer = new BYTE[buffer_size];        
    }
    
    void Destroy()
    {
        // nothing to destroy?
        if(!buffer) return;
        delete[] buffer;
        buffer = NULL;
        buffer_size = 0;
    }
    
    // secure array access, protected by asserts
    BYTE& operator[](unsigned int index)
    {
        // make sure buffer is initalized
        assert(buffer);
        assert(index < buffer_size);
        return buffer[index];
    }
    
    // and a const version
    // secure array access, protected by asserts
    const BYTE& operator[](unsigned int index) const
    {
        // make sure buffer is initalized
        assert(buffer);
        assert(index < buffer_size);
        return buffer[index];
    }
    
private:
    BYTE *buffer;
    unsigned int buffer_size;
};

                                              

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// I90ControllerDlg.cpp : implementation file
//
#include "atlimage.h"
 
#include "pixmap.h"
#include "imglib.h"
#include "ekfreal.cpp"
//#include "ukfreal.cpp"
//#include "ekfrealass.cpp"
#include "stdafx.h"
 
#include "direct.h"
#include "I90Controller.h"
#include "I90ControllerDlg.h"
#include <iostream>
#include <fstream>
 
using namespace std;
// create data structure to hold image
/*struct PIC
{
    unsigned int nChannel;
    bool InterLeaved;
    unsigned int Width, Height, Maxval;
    BYTE *img;
};*/
template <typename T>
 
T **AllocateDynamicArray( int nRows, int nCols)
{
 
    T **dynamicArray;
    dynamicArray = new T*[nRows];
    for( int i = 0 ; i < nRows ; i++ )
    dynamicArray[i] = new T [nCols];
    return dynamicArray;
}
 
template <typename T>
 
/*void FreeDynamicArray(T** dArray)
{
    delete [] *dArray;
    delete [] dArray;
}*/
 
void FreeDynamicArray(T** dArray, int nRows)
{
	for( int i = 0 ; i < nRows ; i++ )
	{
		delete [] (dArray[i]);
	}
	delete [] dArray;
}
 
 
 
//Position calculatematrices(bool firstTime,short thetaL1,short thetaL2,short distanceL1,short distanceL2,bool rightpixel,bool leftpixel,double currentxr,double currentyr,double angletravelled,double lastangletravelled,double lastxr,double lastyr,double *xL,double *yL);
//Position calculatematrices(bool firstTime,short thetaL1,short thetaL2,short distanceL1,short distanceL2,bool rightpixel,bool leftpixel,double currentxr,double currentyr,double angletravelled,double *xL,double *yL);
Position calculatematrices(bool firstTime,short thetaL1,short thetaL2,short distanceL1,short distanceL2,bool rightpixel,bool leftpixel,double currentxr,double currentyr,double angletravelled,double lastangletravelled,double lastxr,double lastyr,double *xL,double *yL,int numberofcolors);
 
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
#define wheelR 8.5 //cm
#define NO_CONTROL -32768
#define M_PWM 0
#define M_POSITION 1
#define M_VELOCITY 2
#define cFULL_COUNT 32767
#define cWHOLE_RANGE 1200
#define CIRCLE_CNT 800 //encoder resolution
#define WheelDis 0.31
#define robotwidth 30 //centimeters
int passedtime=0;
#define Nmax 10000;
#define PI 3.14
 
/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
 
BOOL SaveAudioFile(LPCTSTR FileName) ;
struct WAVEFileHeader{
	short wFormatTag;
	short nChannels;
	long nSamplesPerSec;
	long nAvgBytesPerSec;
	short nBlockAlign;
	short wBitsPerSample;
	short cbSize;
}waveFormatHeader;
 
struct  FileHeader
{
	long lRiff;
	long lFileSize;
	long lWave ;
	long lFormat;
	long lFormatLength;
} audioFileHeader;
 
struct ChunkHeader
{
  long lType;
  long lLen;
}ch;
 
 
 
 
class CAboutDlg : public CDialog
{
public:
	CAboutDlg();
 
// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	//}}AFX_DATA
 
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAboutDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
	//}}AFX_VIRTUAL
 
// Implementation
protected:
	//{{AFX_MSG(CAboutDlg)
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};
 
CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
	//{{AFX_DATA_INIT(CAboutDlg)
	//}}AFX_DATA_INIT
}
 
void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAboutDlg)
	//}}AFX_DATA_MAP
}
 
BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()
 
/////////////////////////////////////////////////////////////////////////////
// CI90ControllerDlg dialog
 
CI90ControllerDlg::CI90ControllerDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CI90ControllerDlg::IDD, pParent)
{
	//colorlist=new int[5];
	lastLeftEncoder =  0;
	lastRightEncoder = 0;
	currentLeftEncoder=0;
	currentRightEncoder=0;
	currentLeftEncoderValue=0;
	currentRightEncoderValue=0;
	m_Encoder1 = 0;
	m_Encoder2 = 0;
	m_Encoder11 = 0;
	m_Encoder22 = 0;
	distanceL1=255;
	distanceL2=255;
	m_IR1 = 0;
	m_IR2 = 0;
	m_IR3 = 0;
	m_IR4 = 0;
	m_IR5 = 0;
	m_IR6 = 0;
	m_IR7 = 0;
	m_Sonar1 = 0;
	m_Sonar2 = 0;
	m_Sonar3 = 0;
	m_IR8 = 0;
	m_Encoderspeed1 = 0;
	m_Encoderspeed2 = 0;
	m_Encodercurrent1 = 0;
	m_Encodercurrent2 = 0;
	
	Ypix=0;
	lastangletravelled=0;
	currentangletravelled=0;
 
	lastpoint1.x=510;
	lastpoint1.y=520;
 
	lastpoint11.x=510;
	lastpoint11.y=520;
	
	lastpoint12.x=510;
	lastpoint12.y=520;
 
	lastpoint2.x=510;
	lastpoint2.y=520;
	
	numberofgreenpixel=0;
	numberoforangepixel=0;
	numberofpinkpixel=0;
	numberofbluepixel=0;
	numberoflilapixel=0;
 
	m_Width=IMAGE_WIDTH;  //720  768
	m_Height=IMAGE_HEIGHT; //576  576
	m_Channels=3;
	ismoving=false;
//initialize the true position xt and the position calculated x
	xxt.x=new double *[2];
	xxt.x[0]=new double [1];
	xxt.x[1]=new double [1];
	xxt.x[0][0]=0;
	xxt.x[1][0]=0;
 
	thetaL1=0;
	thetaL2=0;
	variabilax=0;
	variabilay=0;
	variabilax1=0;
	variabilay1=0;
	xxt.xt=new double *[2];
	xxt.xt[0]=new double [1];
	xxt.xt[1]=new double [1];
	xxt.xt[0][0]=0;
	xxt.xt[1][0]=0;
	lastxr=0;
	lastyr=0;
	
	
	variabila=0;
	//rightpixelvalue=new unsigned char[3];
	//leftpixelvalue=new unsigned char[3];
	angletravelled=0;
	distravelled=0;
	currentdisttravelled=0;
	lastEncoderPulse1=0;
	lastEncoderPulse2=0;
	//initial position and angle
	angle=0;
	xr=0;
	yr=0;
	dx=0;
	dy=0;
	currentEncoderPulse1=0;
	currentEncoderPulse2=0;
	diffEncoder1=0;
	diffEncoder2=0;
	wheelDistanceL=0;
	wheelDistanceR=0;
	landmark =false;
	maximum=0;
	indexmax=0;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
	firstTime= true;
	connectcamera=false;
	rightpixel=false;
	leftpixel=false;
	//we need the vector with the position of the 2 landmarks
	xL= new double [6];
	yL= new double [6];
	
//blue landmark position in cm
	xL[0]=70;
	yL[0]=122;
//green landmark
	xL[1]=120;
	yL[1]=182;
//red landmark
	xL[2]=200;
	yL[2]=78;
//pink landmark 290 initial
	xL[3]=200;
	yL[3]=50;
//purple landmark
	xL[4]=254;
	yL[4]=172;
//orange landmark
	xL[5]=200;
	yL[5]=372;
	 beta=0;
 
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
 
void CI90ControllerDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CI90ControllerDlg)
	DDX_Control(pDX, IDC_PanSpeed, m_PanSlider);
	DDX_Control(pDX, IDC_TiltSpeed, m_TiltSlider);
	DDX_Control(pDX, IDC_DRROBOTSDKCONTROLCTRL1, m_MOTSDK);
	DDX_Text(pDX, IDC_Encoder1, m_Encoder1);
	DDX_Text(pDX, IDC_Encoder2, m_Encoder2);
	DDX_Text(pDX, IDC_EDIT1,variabilax);
	DDX_Text(pDX, IDC_EDIT2,variabilax1);
	DDX_Text(pDX, IDC_EDIT3,dy);
	DDX_Text(pDX, IDC_EDIT4,angletravelled);
	DDX_Text(pDX, IDC_EDIT5,m_sTimerCnt);
 
	DDX_Text(pDX, IDC_IR1, m_IR1);
	DDX_Text(pDX, IDC_IR2, m_IR2);
	DDX_Text(pDX, IDC_IR3, m_IR3);
	DDX_Text(pDX, IDC_IR4, m_IR4);
	DDX_Text(pDX, IDC_IR5, m_IR5);
	DDX_Text(pDX, IDC_IR6, m_IR6);
	DDX_Text(pDX, IDC_IR7, m_IR7);
	DDX_Text(pDX, IDC_Sonar1, m_Sonar1);
	DDX_Text(pDX, IDC_Sonar2, m_Sonar2);
	DDX_Text(pDX, IDC_Sonar3, m_Sonar3);
	DDX_Control(pDX, IDC_DRROBOTSDKCONTROLCTRL2, m_TISDK);
	DDX_Control(pDX, IDC_VITAMINCTRL1, m_vitCtrl);
 
	//}}AFX_DATA_MAP
}
 
BEGIN_MESSAGE_MAP(CI90ControllerDlg, CDialog)
	//{{AFX_MSG_MAP(CI90ControllerDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_Forward, OnForward)
	ON_BN_CLICKED(IDC_Back, OnBack)
	ON_BN_CLICKED(IDC_Stop, OnStop)
	ON_BN_CLICKED(IDC_TurnLeft, OnTurnLeft)
	ON_BN_CLICKED(IDC_TurnRight, OnTurnRight)
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_Record, OnRecord)
	ON_BN_CLICKED(IDC_Connect, OnConnect)
	ON_BN_CLICKED(IDC_CameraUp, OnCameraUp)
	ON_BN_CLICKED(IDC_CameraDown, OnCameraDown)
	ON_BN_CLICKED(IDC_CameraLeft, OnCameraLeft)
	ON_BN_CLICKED(IDC_CameraRight, OnCameraRight)
	ON_BN_CLICKED(IDC_CameraReset, OnCameraReset)
	ON_BN_CLICKED(IDC_Pan, OnPan)
	ON_BN_CLICKED(IDC_CameraStop, OnCameraStop)
	ON_NOTIFY(NM_CUSTOMDRAW, IDC_PanSpeed, OnCustomdrawPanSpeed)
	ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_PanSpeed, OnReleasedcapturePanSpeed)
	ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_TiltSpeed, OnReleasedcaptureTiltSpeed)
	ON_BN_CLICKED(IDC_SnapShot, OnSnapShot)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()
 
/////////////////////////////////////////////////////////////////////////////
// CI90ControllerDlg message handlers
 
BOOL CI90ControllerDlg::OnInitDialog()
{
	
	CDialog::OnInitDialog();
 
	// Add "About..." menu item to system menu.
 
	// IDM_ABOUTBOX must be in the system command range.
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);
 
	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}
 
	
	GetDlgItem(IDC_EDIT_SERV_IP)->SetWindowText("192.168.0.99");
	//GetDlgItem(IDC_EDIT_SERV_IP)->SetWindowText("192.168.4.12");
	GetDlgItem(IDC_EDIT_PORT)->SetWindowText("8081");
	GetDlgItem(IDC_EDIT_ROOT_ID)->SetWindowText("root");
	GetDlgItem(IDC_EDIT_ROOT_PWD)->SetWindowText("drrobot");
 
	m_PanSlider.SetRangeMin(-5, false);
	m_PanSlider.SetRangeMax(5, false);
 
	m_TiltSlider.SetRangeMin(-5, false);
	m_TiltSlider.SetRangeMax(5, false);
 
	
	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon
	
	// TODO: Add extra initialization here
	green_Dist = new double[32*32*32];
	lila_Dist = new double[32*32*32];
	orange_Dist = new double[32*32*32];
	pink_Dist = new double[32*32*32];
	Back_Dist = new double[32*32*32];
	blue_Dist = new double[32*32*32];
 
	m_iTimerCnt = 0;
	m_MOTSDK.connectRobot ("motcom");
	m_TISDK.connectRobot ("ticom");
	
	GetDlgItem(IDC_CameraUp)->EnableWindow(false);
 
	ReadMat();
	m_bCameraConnected = false;
	musicInPlay = false;
	SetTimer(1, 450, NULL);
	firstTime = true;
	
	return TRUE;  // return TRUE  unless you set the focus to a control
}
 
void CI90ControllerDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}
 
// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.
 
void CI90ControllerDlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting
		
		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);
 
		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;
		
	
		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
	CPaintDC dc(this);
	//ofstream outfile_Pout;
	
 
	
	
	
	//CPoint p5(577+xL[0]*0.1,467+yL[0]*0.1);
	//dc.MoveTo(lastpoint11);
	//dc.LineTo(p5);
	//lastpoint11=p5;
	
	
/*	CPoint p6(510+xL[0]*0.5,510-yL[0]*0.2);
	//blue landmark
	dc.SetPixel(510+xL[0]*0.5,520-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(511+xL[0]*0.5,520-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(509+xL[0]*0.5,520-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(512+xL[0]*0.5,520-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(508+xL[0]*0.5,520-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(510+xL[0]*0.5,521-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(510+xL[0]*0.5,522-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(510+xL[0]*0.5,518-yL[0]*0.2,RGB(0,0,255));
	dc.SetPixel(510+xL[0]*0.5,519-yL[0]*0.2,RGB(0,0,255));
 
	dc.MoveTo(lastpoint11);
	dc.LineTo(p6);
	lastpoint11=p6;
 
	CPoint p7(510+xL[1]*0.5,520-yL[1]*0.2);
	//green landmark
	dc.SetPixel(510+xL[1]*0.5,520-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(511+xL[1]*0.5,520-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(509+xL[1]*0.5,520-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(512+xL[1]*0.5,520-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(508+xL[1]*0.5,520-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(510+xL[1]*0.5,521-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(510+xL[1]*0.5,522-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(510+xL[1]*0.5,518-yL[1]*0.2,RGB(0,238,0));
	dc.SetPixel(510+xL[1]*0.5,519-yL[1]*0.2,RGB(0,238,0));
	
	dc.MoveTo(lastpoint11);
	dc.LineTo(p7);
	lastpoint11=p7;
 
	CPoint p8(510+xL[5]*0.5,520-yL[5]*0.2);
	//orange landmark
	dc.SetPixel(510+xL[5]*0.5,520-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(511+xL[5]*0.5,520-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(509+xL[5]*0.5,520-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(512+xL[5]*0.5,520-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(508+xL[5]*0.5,520-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(510+xL[5]*0.5,521-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(510+xL[5]*0.5,522-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(510+xL[5]*0.5,518-yL[5]*0.2,RGB(255,69,0));
	dc.SetPixel(510+xL[5]*0.5,519-yL[5]*0.2,RGB(255,69,0));
	
	dc.MoveTo(lastpoint11);
	dc.LineTo(p8);
	lastpoint11=p8;
 
 
	CPoint p9(510+xL[3]*0.5,520-yL[3]*0.2);
	//pink landmark
	dc.SetPixel(510+xL[3]*0.5,520-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(511+xL[3]*0.5,520-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(509+xL[3]*0.5,520-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(512+xL[3]*0.5,520-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(508+xL[3]*0.5,520-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(510+xL[3]*0.5,521-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(510+xL[3]*0.5,522-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(510+xL[3]*0.5,518-yL[3]*0.2,RGB(255,20,147));
	dc.SetPixel(510+xL[3]*0.5,519-yL[3]*0.2,RGB(255,20,147));
	
	dc.MoveTo(lastpoint12);
	dc.LineTo(p9);
	lastpoint12=p9;
 
	CPoint p10(510+xL[4]*0.5,520-yL[4]*0.2);
	//purple landmark
	dc.SetPixel(510+xL[4]*0.5,520-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(511+xL[4]*0.5,520-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(509+xL[4]*0.5,520-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(512+xL[4]*0.5,520-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(508+xL[4]*0.5,520-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(510+xL[4]*0.5,521-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(510+xL[4]*0.5,522-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(510+xL[4]*0.5,518-yL[4]*0.2,RGB(128,0,128));
	dc.SetPixel(510+xL[4]*0.5,519-yL[4]*0.2,RGB(128,0,128));
	
	dc.MoveTo(lastpoint12);
	dc.LineTo(p10);
	lastpoint12=p10;
*/
	CDialog::OnPaint();
	}
}
 
// The system calls this to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CI90ControllerDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}
 
BEGIN_EVENTSINK_MAP(CI90ControllerDlg, CDialog)
    //{{AFX_EVENTSINK_MAP(CI90ControllerDlg)
	ON_EVENT(CI90ControllerDlg, IDC_DRROBOTSDKCONTROLCTRL1, 1 /* StandardSensorEvent */, OnStandardSensorEventDrrobotsdkcontrolctrl1, VTS_NONE)
	ON_EVENT(CI90ControllerDlg, IDC_DRROBOTSDKCONTROLCTRL1, 3 /* CustomSensorEvent */, OnCustomSensorEventDrrobotsdkcontrolctrl1, VTS_NONE)
	ON_EVENT(CI90ControllerDlg, IDC_DRROBOTSDKCONTROLCTRL1, 2 /* MotorSensorEvent */, OnMotorSensorEventDrrobotsdkcontrolctrl1, VTS_NONE)
	ON_EVENT(CI90ControllerDlg, IDC_DRROBOTSDKCONTROLCTRL1, 5 /* VoiceSegmentEvent */, OnVoiceSegmentEventDrrobotsdkcontrolctrl1, VTS_NONE)
	ON_EVENT(CI90ControllerDlg, IDC_DRROBOTSDKCONTROLCTRL2, 5 /* VoiceSegmentEvent */, OnVoiceSegmentEventDrrobotsdkcontrolctrl2, VTS_NONE)
	ON_EVENT(CI90ControllerDlg, IDC_VITAMINCTRL1, 2 /* OnConnectionBroken */, OnOnConnectionBrokenVitaminctrl1, VTS_I4)
	ON_EVENT(CI90ControllerDlg, IDC_VITAMINCTRL1, 5 /* OnConnectionOK */, OnOnConnectionOKVitaminctrl1, VTS_I4)
	//}}AFX_EVENTSINK_MAP
END_EVENTSINK_MAP()
 
void CI90ControllerDlg::OnStandardSensorEventDrrobotsdkcontrolctrl1() 
{
	// TODO: Add your control notification handler code here
	m_Sonar1= m_MOTSDK.GetSensorSonar1 ();
	m_Sonar2= m_MOTSDK.GetSensorSonar2 ();
	m_Sonar3= m_MOTSDK.GetSensorSonar3 ();
	
 
	m_IR1 = m_MOTSDK.GetSensorIRRange ();
	
	
 
	UpdateData(false);
	
}
 
void CI90ControllerDlg::OnCustomSensorEventDrrobotsdkcontrolctrl1() 
{
	// TODO: Add your control notification handler code here
	m_IR2 = m_MOTSDK.GetCustomAD3 ();
	m_IR3 = m_MOTSDK.GetCustomAD4 ();
	m_IR4 = m_MOTSDK.GetCustomAD5 ();	
	m_IR5 = m_MOTSDK.GetCustomAD6 ();
	m_IR6 = m_MOTSDK.GetCustomAD7 ();
	m_IR7 = m_MOTSDK.GetCustomAD8 ();
	UpdateData(false);
}
 
void CI90ControllerDlg::OnMotorSensorEventDrrobotsdkcontrolctrl1() 
{
	// TODO: Add your control notification handler code here
	m_Encoder1 = m_MOTSDK.GetEncoderPulse1 ();
	m_Encoder2 = m_MOTSDK.GetEncoderPulse2 ();
	
	
	m_Encoderspeed1 =m_MOTSDK.GetEncoderSpeed1();    //left speed
	m_Encoderspeed2 =m_MOTSDK.GetEncoderSpeed2();    //right speed
 
	m_Encodercurrent1 = (double)m_MOTSDK.GetMotorCurrent1() / 728.0;  //left current
	m_Encodercurrent2 =(double)m_MOTSDK.GetMotorCurrent2() /728.0;    //right current
	
	currentLeftEncoder = m_Encoder1;
	currentRightEncoder = m_Encoder2;
 
	if((m_Encoderspeed1!=0)&&(m_Encoderspeed2!=0))
	{
	
		direction = m_MOTSDK.GetEncoderDir1();
 
		if (firstTime==false)
		{
			currentLeftEncoder=m_Encoder1;
			//currentLeftEncoder=cFULL_COUNT-m_Encoder1;
			//currentLeftEncoderValue=cFULL_COUNT-m_MOTSDK.GetEncoderPulse1 ();
			//currentRightEncoder=cFULL_COUNT-m_Encoder2;
			currentRightEncoder=m_Encoder2;
			//currentRightEncoderValue=cFULL_COUNT-m_MOTSDK.GetEncoderPulse2 ();
			//different = currentLeftEncoderValue - lastLeftEncoder ;
			//currentRightEncoderValue=m_MOTSDK.GetEncoderPulse2 ();
		    
			
		  
			//m_MOTSDK.DcMotorVelocityTimeCtrAll ((short)(leftcmd/10), (short)(rightcmd/10),NO_CONTROL,NO_CONTROL,NO_CONTROL,NO_CONTROL,10000);
		    
			
			//for(int i=0;i<1000;i++)
			//{
 
			diffEncoder1=currentLeftEncoder-lastLeftEncoder;
				//eliminate the encoder rollover
				if(abs(diffEncoder1) >  16384)
				{
					if(currentLeftEncoder<lastLeftEncoder)
					diffEncoder1=cFULL_COUNT-lastLeftEncoder+currentLeftEncoder;
					else
					diffEncoder1=currentLeftEncoder-lastLeftEncoder-cFULL_COUNT;
				}
				
				diffEncoder1 = -(diffEncoder1*2*3.14*wheelR)/800;
				
 
			diffEncoder2=currentRightEncoder-lastRightEncoder;
				if(abs(diffEncoder2)>16384)
				{
					if(currentRightEncoder<lastRightEncoder)
					diffEncoder2=cFULL_COUNT-lastRightEncoder+currentRightEncoder;
					else
					diffEncoder2=currentRightEncoder-lastRightEncoder-cFULL_COUNT;
				}
				
				diffEncoder2 = (diffEncoder2*2*3.14*wheelR)/800;
				//diffEncoder2 = diffEncoder2*angletravelled;
				//refresh the lastencoder
				
				
				//calculate the wheeldistance--they say is the circumference 2pir/(counts/cycle)---and it is 2pir/800
				wheelDistanceL = diffEncoder1 ;
				wheelDistanceR = diffEncoder2 ;
 
				//wheelDistanceL=-(2*3.14*wheelR*diffEncoder1)/CIRCLE_CNT;
				//wheelDistanceR=(2*3.14*wheelR*diffEncoder2)/CIRCLE_CNT;
				//calculate the wheeldistance at t-1 because I need the position at t-1
				
				//wheelDistanceL=(2*3.14*wheelR*currentLeftEncoderValue)/CIRCLE_CNT;
				//wheelDistanceL=((2*3.14*wheelR)/CIRCLE_CNT)*currentLeftEncoderValue;
				//wheelDistanceR=((2*3.14*wheelR)/CIRCLE_CNT)*currentRightEncoderValue;
				//calculate the wheeldistance at t-1 because I need the position at t-1
				//lastwheelDistanceL=(2*3.14*wheelR*lastLeftEncoder)/CIRCLE_CNT;
				//lastwheelDistanceR=(2*3.14*wheelR*lastRightEncoder)/CIRCLE_CNT;
				//calculate angle and distance travelled at the current time
 
				distravelled=(wheelDistanceL+wheelDistanceR)/2;
				
				angletravelled=((double)wheelDistanceR-(double)wheelDistanceL)/31;
				
 
				
				
				//angletravelled=Angle2PI(angletravelled);
				//angletravelled=AnglePI(angletravelled);
 
				
				//if (abs(wheelDistanceR)==abs(wheelDistanceL))
				//{
				//	angletravelled=0;
				//}
				currentdisttravelled = distravelled;
				
				//angletravelled=(angletravelled*180)/3.14;
 
				//lastdx=lastdistravelled*cos(angle+(double)lastangletravelled/2);
				//lastdy=lastdistravelled*sin(angle+(double)lastangletravelled/2);
				//calculate the position at current time 
				
				angletravelled=angletravelled+lastangletravelled;
				
				dx=0.5*(diffEncoder1+diffEncoder2)*cos((double)angle+(double)angletravelled);
				dy=0.5*(diffEncoder1+diffEncoder2)*sin((double)angle+(double)angletravelled);
				currentxr=dx+lastxr;
				currentyr=dy+lastyr;
				//lastxr=currentxr-lastdx;
				//lastyr=currentyr-lastdy;
 
 
		
		}//end if first time
			
		else
 
		{
		
			lastLeftEncoder = currentLeftEncoder;
			lastRightEncoder = currentRightEncoder;
				
			angletravelled=0;
			lastxr=0;
			lastyr=0;
			currentxr=0;
			currentyr=0;
			variabilax=0;
			variabilay=0;
			variabilax1=0;
			variabilay1=0;
			m_Encoder2=0;
			m_Encoder1=0;
 
			firstTime = false;
		}
 
		
		
	}//end if m_encoderspeed1!=0
		
		//angletravelled=angletravelled+lastangletravelled;
		//distravelled=distravelled+lastdistravelled;
	
	
 
		
	
	
 
UpdateData(false);
}
 
void CI90ControllerDlg::OnForward() 
{
	// TODO: Add your control notification handler code here
	short desiredWheelSpeed1=-10*CIRCLE_CNT/(2*3.14*wheelR);//left has to be clockwise
	short desiredWheelSpeed2=10*CIRCLE_CNT/(2*3.14*wheelR);//right has to be counterclockwise so it should go forward
 
	m_MOTSDK.SetDcMotorControlMode (0,M_VELOCITY);	
	m_MOTSDK.SetDcMotorControlMode (1,M_VELOCITY);
	m_MOTSDK.SetDcMotorVelocityControlPID (0, 30, 10, 0);
	m_MOTSDK.SetDcMotorVelocityControlPID (1, 30, 10, 0);
 
 
	//m_MOTSDK.DcMotorVelocityNonTimeCtrAll(-100,150,NO_CONTROL,NO_CONTROL,NO_CONTROL,NO_CONTROL);
	m_MOTSDK.DcMotorVelocityNonTimeCtrAll (desiredWheelSpeed1,desiredWheelSpeed2,NO_CONTROL,NO_CONTROL,NO_CONTROL,NO_CONTROL);
 
	
	ismoving=true;
}
 
void CI90ControllerDlg::OnBack() 
{
	// TODO: Add your control notification handler code here
	m_MOTSDK.SetDcMotorControlMode (0,M_VELOCITY);
	m_MOTSDK.SetDcMotorControlMode (1,M_VELOCITY);
	m_MOTSDK.SetDcMotorVelocityControlPID (0, 30, 10, 0);
	m_MOTSDK.SetDcMotorVelocityControlPID (1, 30, 10, 0);
	m_MOTSDK.DcMotorVelocityNonTimeCtrAll (200, -200,NO_CONTROL,NO_CONTROL,NO_CONTROL,NO_CONTROL); 
}
 
void CI90ControllerDlg::OnStop() 
{
	// TODO: Add your control notification handler code here
	
	m_MOTSDK.DisableDcMotor (0);
	m_MOTSDK.DisableDcMotor (1);
	angletravelled=0;
	lastxr=0;
	lastyr=0;
	currentxr=0;
	currentyr=0;
	variabilax=0;
	variabilay=0;
	variabilax1=0;
	variabilay1=0;
	m_Encoder2=0;
	m_Encoder1=0;
	firstTime=true;
 
	
	
}
 
void CI90ControllerDlg::OnTurnLeft() 
{
	// TODO: Add your control notification handler code here
	long cmd1,cmd2;
 
    cmd1 = m_Encoder1 + cWHOLE_RANGE / 3;
    cmd2 = m_Encoder2 + cWHOLE_RANGE / 3;
    
   //change cmd1, cmd2 to valid data range
    if (cmd1 < 0) cmd1 = cmd1 + cFULL_COUNT;
    if (cmd2 < 0) cmd2 = cmd2 + cFULL_COUNT;
    if (cmd1 > cFULL_COUNT) cmd1 = cmd1 - cFULL_COUNT;
    if (cmd2 > cFULL_COUNT) cmd2 = cmd2 - cFULL_COUNT;
 
 
	m_MOTSDK.SetDcMotorControlMode (0,M_POSITION);
	m_MOTSDK.SetDcMotorControlMode (1,M_POSITION);
	m_MOTSDK.SetDcMotorVelocityControlPID (0, 30, 10, 0);
	m_MOTSDK.SetDcMotorPositionControlPID (0, 600,30,600);
	m_MOTSDK.SetDcMotorPositionControlPID (1, 600,30,600);
	m_MOTSDK.DcMotorPositionTimeCtrAll (cmd1,cmd2,NO_CONTROL,NO_CONTROL,NO_CONTROL,NO_CONTROL,1000);
 
}
 
void CI90ControllerDlg::OnTurnRight() 
{
	// TODO: Add your control notification handler code here
	long cmd1,cmd2;
 
    cmd1 = m_Encoder1 - cWHOLE_RANGE / 3;
    cmd2 = m_Encoder2 - cWHOLE_RANGE / 3;
    
    // change cmd1, cmd2 to valid data range
    if (cmd1 < 0) cmd1 = cmd1 + cFULL_COUNT;
    if (cmd2 < 0) cmd2 = cmd2 + cFULL_COUNT;
    if (cmd1 > cFULL_COUNT) cmd1 = cmd1 - cFULL_COUNT;
    if (cmd2 > cFULL_COUNT) cmd2 = cmd2 - cFULL_COUNT;
 
 
	m_MOTSDK.SetDcMotorControlMode (0,M_POSITION);
	m_MOTSDK.SetDcMotorControlMode (1,M_POSITION);
	m_MOTSDK.SetDcMotorVelocityControlPID (0, 30, 10, 0);
	m_MOTSDK.SetDcMotorPositionControlPID (0, 600,30,600);
	m_MOTSDK.SetDcMotorPositionControlPID (1, 600,30,600);
	m_MOTSDK.DcMotorPositionTimeCtrAll (cmd1,cmd2,NO_CONTROL,NO_CONTROL,NO_CONTROL,NO_CONTROL,1000);	
}
 
 
 
void CI90ControllerDlg::OnCancel() 
{
	// TODO: Add extra cleanup here
	m_MOTSDK.StopAudioPlay ();
	m_MOTSDK.DisableDcMotor (0);
	m_MOTSDK.DisableDcMotor (1);
	
	if (m_vitCtrl.GetControlStatus() != 0 &&
		m_vitCtrl.GetControlStatus() != 3)
	{
        m_vitCtrl.Disconnect();
	}
 
	
	CDialog::OnCancel();
}
 
void CI90ControllerDlg::OnTimer(UINT nIDEvent) 
{
	// TODO: Add your message handler code here and/or call default
	
	CDialog::OnTimer(nIDEvent);
	
	if(m_bCameraConnected)
	{
		UpdateData(true);
		++m_iTimerCnt;
		m_sTimerCnt.Format("%d",m_iTimerCnt);
		UpdateData(false);
 
		//do upate the UI here
			// get color ID
			VARIANT pvData;
			 VariantInit(&pvData);
				VARIANT pvInfo; 
			   VariantInit(&pvInfo);
			  unsigned char *pData;	
			long captureresult=m_vitCtrl.GetSnapshot(4,&pvData,&pvInfo);
			//long captureresult=m_vitCtrl.GetSnapshot(2,&pvData,&pvInfo);
 
				CString strName,strName2;
				//CImage * image1,*image2,image3,image4;
				
				//strName = ".\\tempSnapShot1.bmp";
				strName = ".\\tempSnapShot1.bmp";
				//strName2=".\\tempSnapShot.bmp";
				//image1 = new CImage();
				
				m_vitCtrl.SaveSnapshot(2,strName);
				
			//	image1->Load(".\\tempSnapShot1.bmp");
			//	image1=&image3;
				//CImage* returnImage = new	CImage();
				
				//Sobel(image1,returnImage);
				
	ifstream infile_Pin1,infile_Pin2;                /* input file */
    char inFileName_Pin1[128]="tempSnapShot1.pgm";/* input file name */
	
	//char inFileName_Pin1[128]="Doi.pgm";
    PIC Pin1, Pin2;            //source image
	 /* open input/output file */
    infile_Pin1.open(inFileName_Pin1, ios::binary);
 
	// check input file 
    if(!infile_Pin1)
    {
        cout<<"Cannot open input file "<< inFileName_Pin1 <<endl;
        //return 1;
    }
	/*int Gaussian_Mask[5][5] = {{2, 4, 5, 4, 2},
                                 {4, 9, 12, 9, 4},
                                 {5, 12, 15, 12, 5},
								 {4, 9, 12, 9, 4},
                                 {2, 4, 5, 4, 2}};
								 */
	int numpix =0;
	double Gaussian_Mask[5][5] = {{0.0378,0.0394, 0.04, 0.0394, 0.0378},
                                 {0.0394, 0.0411, 0.0417,  0.0411,0.0394},
                                 {0.04, 0.0417, 0.0423,0.0417,0.04},
								 {0.0394,0.0411, 0.0417, 0.0411, 0.0394},
                                 {0.0378, 0.0394, 0.04, 0.0394, 0.0378}};
	
	if (LoadP5Header(infile_Pin1, Pin1)) // load pgm (Pin) image header information
    {
        // allocate the memory for the input image
        //the dimensions of the original
 
        Pin1.img = new BYTE[Pin1.Width*Pin1.Height];
 
        LoadImage(infile_Pin1, Pin1);
   
       Canny_Edge(Pin1,Gaussian_Mask, "Trei.pgm"); 
 
		
	   	delete []Pin1.img;
		Pin1.img =NULL;
		
	}
	
	delete []green_Dist;
	green_Dist = 0;
	delete []lila_Dist;
	lila_Dist = 0;
	delete []orange_Dist;
	orange_Dist = 0;
	delete []pink_Dist;
	pink_Dist = 0;
	delete []Back_Dist;
	Back_Dist = 0;
	delete []blue_Dist;
	blue_Dist = 0;
			 /*  if (captureresult==0)
			   {
					pData=(unsigned char *)pvData.parray->pvData;
					double dx1,dy1,phi;
				
					//ReadMat();
					
					ImageSegmentation(pData,Back_Dist,blue_Dist,green_Dist,pink_Dist,lila_Dist,orange_Dist);
			   }*/	
 
			if (landmark)
				{
					if ((m_Sonar1 <255)&&(distravelled+50 < m_Sonar1))
					{
						OnStop();	
					}
				}
	
		//here make decison based on color ID
 
		/*if((colorposition.character=='b')&&(colorposition.col[0]<176))
			{
				//we detected the blue landmark in the left side of the robot
				leftpixel=true;
				distanceL1=m_Sonar1;
				thetaL1=asin((currentyr-yL[0])/distanceL1);
 
			}
			else if ((colorposition.character=='b')&&(colorposition.col[0]>=176))
			{
				
				//we detected the blue landmark in the right side of the robot
				rightpixel=true;
				distanceL2=m_Sonar2;
				//calculate the angle between the robot and the landmarks 
				thetaL2=asin((currentyr-yL[0])/distanceL2);
 
			}
 
			else if((colorposition.character=='g')&&(colorposition.col[1]<176))
			{
				//we detected the green landmark in the left side of the robot
				leftpixel=true;
				distanceL1=m_Sonar1;
				thetaL1=asin((currentyr-yL[1])/distanceL1);
 
			}
			else if ((colorposition.character=='g')&&(colorposition.col[1]>=176))
			{
				
				//we detected the green landmark in the right side of the robot
				rightpixel=true;
				distanceL2=m_Sonar2;
				//calculate the angle between the robot and the landmarks 
				thetaL2=asin((currentyr-yL[1])/distanceL2);
 
			}
 
			else if((colorposition.character=='o')&&(colorposition.col[2]<176))
			{ 
				//we detected the orange landmark in the left side of the robot
				leftpixel=true;
				distanceL1=m_Sonar1;
				thetaL1=asin((currentyr-yL[5])/distanceL1);
 
			}
			else if ((colorposition.character=='o')&&(colorposition.col[2]>=176))
			{
				
				//we detected the orange landmark in the right side of the robot
				rightpixel=true;
				distanceL2=m_Sonar2;
				//calculate the angle between the robot and the landmarks 
				thetaL2=asin((currentyr-yL[5])/distanceL2);
 
			}
 
			else if((colorposition.character=='l')&&(colorposition.col[3]<42420))
			{
				//we detected the lila landmark in the left side of the robot
				leftpixel=true;
				distanceL1=m_Sonar1;
				thetaL1=asin((currentyr-yL[4])/distanceL1);
 
			}
			else if ((colorposition.character=='l')&&(colorposition.col[3]>=42420))
			{
				
				//we detected the lila landmark in the right side of the robot
				rightpixel=true;
				distanceL2=m_Sonar2;
				//calculate the angle between the robot and the landmarks 
				thetaL2=asin((currentyr-yL[4])/distanceL2);
 
			}
 
			else if((colorposition.character=='p')&&(colorposition.col[4]<42420))
			{
				//we detected the pink landmark in the left side of the robot
				leftpixel=true;
				distanceL1=m_Sonar1;
				thetaL1=asin((currentyr-yL[3])/distanceL1);
 
			}
			else if ((colorposition.character=='p')&&(colorposition.col[4]>=42420))
			{
				
				//we detected the pink landmark in the right side of the robot
				rightpixel=true;
				distanceL2=m_Sonar2;
				//calculate the angle between the robot and the landmarks 
				thetaL2=asin((currentyr-yL[3])/distanceL2);
 
			}	
			else if (colorposition.character=='n')
			{
			rightpixel=false;
			leftpixel=false;
			thetaL1=0;
			thetaL2=0;
			distanceL1=0;
			distanceL2=0;
			}
 
	*/
		
		if(ismoving && m_Encoderspeed1!=0 && m_Encoderspeed2!=0)
		{
				//xxt=calculatematrices(firstTime,thetaL1,thetaL2,distanceL1,distanceL2,rightpixel,leftpixel,currentxr,currentyr,angletravelled,xL,yL);
				
				//xxt=calculatematrices(firstTime,thetaL1,thetaL2,distanceL1,distanceL2,rightpixel,leftpixel,currentxr,currentyr,angletravelled,lastangletravelled,lastxr,lastyr,xL,yL);
 
				xxt=calculatematrices(firstTime,thetaL1,thetaL2,distanceL1,distanceL2,rightpixel,leftpixel,currentxr,currentyr, angletravelled, lastangletravelled, lastxr,lastyr, xL, yL, numberofcolors);
 
				variabilax =xxt.x[0][0];
				variabilay =xxt.x[1][0];
				variabilax1 = xxt.xt[0][0];
				variabilay1 = xxt.xt[1][0];
 
 
				CClientDC dc(this);
				CPoint p1(510+variabilax1,520-variabilay1);
				dc.MoveTo(lastpoint1);
				dc.LineTo(p1);
				lastpoint1=p1;
				
				CPen  myPen2,myPen3;
 
				//CPen penBlack(PS_COSMETIC,1,RGB(255,0,0));
				LOGBRUSH logBrush,logBrush1;
				logBrush.lbStyle = BS_SOLID;
				logBrush.lbColor = RGB(255,0,0);
				myPen2.CreatePen(PS_DOT|PS_GEOMETRIC|PS_ENDCAP_ROUND, 2, &logBrush); 
				dc.SelectObject(&myPen2);
				CPoint p3(510+variabilax,520-variabilay);
				dc.MoveTo(lastpoint2);
				dc.LineTo(p3);
				lastpoint2=p3;
				//angletravelled=angletravelled+lastangletravelled;
				//CPaintDC dc(this);
 
				logBrush1.lbStyle = BS_SOLID;
				logBrush1.lbColor = RGB(0,190,0);
				myPen3.CreatePen(PS_DOT|PS_GEOMETRIC|PS_ENDCAP_ROUND, 2, &logBrush1); 
				dc.SelectObject(&myPen3);
				dc.SetPixel(510 + m_Sonar1,520 - variabilay1,RGB(0,190,0));
				dc.SetPixel(510 + m_Sonar2,520 - variabilay1,RGB(200,0,0));
				dc.SetPixel(510 + m_Sonar3,520 - variabilay1,RGB(0,0,200));
 
				
 
 
 
								
 
		}
		
 
		lastdistravelled = currentdisttravelled;
		
		lastangletravelled=angletravelled;
		
		lastdistravelled=distravelled;
		lastxr=currentxr;
		lastyr=currentyr;
		lastRightEncoder = currentRightEncoder;
		lastLeftEncoder = currentLeftEncoder;
	}
}
 
void CI90ControllerDlg::OnRecord() 
{
	// TODO: Add your control notification handler code here
 
	
}
 
void CI90ControllerDlg::OnVoiceSegmentEventDrrobotsdkcontrolctrl1() 
{
	// TODO: Add your control notification handler code here
 
}
 
void CI90ControllerDlg::OnVoiceSegmentEventDrrobotsdkcontrolctrl2() 
{
	// TODO: Add your control notification handler code here
	
}
 
 
 
BOOL SaveAudioFile(LPCTSTR FileName) 
{
	
	return TRUE;
}
 
void CI90ControllerDlg::OnConnect() 
{
	// TODO: Add your control notification handler code here
	 if (m_vitCtrl.GetControlStatus() != 0 &&
		m_vitCtrl.GetControlStatus() != 3)
	{
        m_vitCtrl.Disconnect();
		return;
	}
 
	CString strServIP, strRootPwd, strUserName, strTemp;
 
	GetDlgItem(IDC_EDIT_SERV_IP)->GetWindowText(strServIP);
	GetDlgItem(IDC_EDIT_PORT)->GetWindowText(strTemp);
	GetDlgItem(IDC_EDIT_ROOT_ID)->GetWindowText(strUserName);
	GetDlgItem(IDC_EDIT_ROOT_PWD)->GetWindowText(strRootPwd);
 
	m_vitCtrl.SetPassword(strRootPwd);
	m_vitCtrl.SetUserName(strUserName);
	m_vitCtrl.SetRemoteIPAddr(strServIP);
	long lPort = atoi(strTemp);
	if (lPort <= 0 || lPort > 65535)
		lPort = 80;
	m_vitCtrl.SetHttpPort(lPort);
	
	//m_vitCtrl.SetMediaType(1);
 
	m_vitCtrl.Connect();
 
	GetDlgItem(IDC_EDIT_SERV_IP)->EnableWindow(FALSE);
	GetDlgItem(IDC_EDIT_PORT)->EnableWindow(FALSE);
	GetDlgItem(IDC_EDIT_ROOT_ID)->EnableWindow(FALSE);
	GetDlgItem(IDC_EDIT_ROOT_PWD)->EnableWindow(FALSE);
 
	GetDlgItem(IDC_Connect)->SetWindowText("Stop");
 
	GetDlgItem(IDC_CameraUp)->EnableWindow(true);
}
 
void CI90ControllerDlg::OnOnConnectionBrokenVitaminctrl1(long eConnType) 
{
	// TODO: Add your control notification handler code here
	GetDlgItem(IDC_EDIT_SERV_IP)->EnableWindow(TRUE);
	GetDlgItem(IDC_EDIT_PORT)->EnableWindow(TRUE);
	GetDlgItem(IDC_EDIT_ROOT_ID)->EnableWindow(TRUE);
	GetDlgItem(IDC_EDIT_ROOT_PWD)->EnableWindow(TRUE);
	GetDlgItem(IDC_Connect)->SetWindowText("Connect");
	
	m_bCameraConnected	= false;
}
 
void CI90ControllerDlg::OnCameraUp() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("up",30000);	
}
 
 
void CI90ControllerDlg::OnCameraDown() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("down",30000);	
}
 
void CI90ControllerDlg::OnCameraLeft() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("left",30000);	
}
 
void CI90ControllerDlg::OnCameraRight() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("right",30000);	
}
 
void CI90ControllerDlg::OnCameraReset() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("home",30000);	
}
 
void CI90ControllerDlg::OnPan() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("pan",30000);	
}
 
void CI90ControllerDlg::OnCameraStop() 
{
	// TODO: Add your control notification handler code here
	m_vitCtrl.SendCameraCommand ("stop",30000);	
}
 
void CI90ControllerDlg::OnCustomdrawPanSpeed(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
 
}
 
 
 
void CI90ControllerDlg::OnReleasedcapturePanSpeed(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	
	int nPos;
	nPos = m_PanSlider.GetPos ();
 
	m_vitCtrl.SendCameraControlSpeed (1,nPos);
	*pResult = 0;
}
 
void CI90ControllerDlg::OnReleasedcaptureTiltSpeed(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	
	int nPos;
	nPos = m_TiltSlider.GetPos ();
 
	m_vitCtrl.SendCameraControlSpeed (2,nPos);
	*pResult = 0;
}
 
void CI90ControllerDlg::OnOnConnectionOKVitaminctrl1(long eConnType) 
{
	// TODO: Add your control notification handler code here
	GetDlgItem(IDC_EDIT_SERV_IP)->EnableWindow(FALSE);
	GetDlgItem(IDC_EDIT_PORT)->EnableWindow(FALSE);
	GetDlgItem(IDC_EDIT_ROOT_ID)->EnableWindow(FALSE);
	GetDlgItem(IDC_EDIT_ROOT_PWD)->EnableWindow(FALSE);
	GetDlgItem(IDC_Connect)->SetWindowText("Stop");
 
	GetDlgItem(IDC_SnapShot)->EnableWindow(TRUE);
 
	m_bCameraConnected = true;
}
 
void CI90ControllerDlg::OnSnapShot() 
{
	// TODO: Add your control notification handler code here
	CString strName;
	strName = ".\\tempSnapShot.jpg";
	m_vitCtrl.SaveSnapshot(1, strName);
}
int* CI90ControllerDlg::MaxofVector(int *vect,int size)
{
	int* result=new int[2];
	maximum=vect[0];
	indexmax=0;
	for(int i=0;i<size;i++)
	{
		if(vect[i]>maximum)
		{
			maximum=vect[i];
			indexmax=i; 
			
		}
		
	}
	result[0]=maximum;
	result[1]=indexmax;
		
	return result;
}
void CI90ControllerDlg::ReadMat()// read data from matlab
{
 // TODO: Add your command handler code here
 
	MATFile *pmatFile,*pmatFile1,*pmatFile2,*pmatFile3,*pmatFile4,*pmatFile5;
	mxArray *pMxArray,*pMxArray1,*pMxArray2,*pMxArray3,*pMxArray4,*pMxArray5;
 
	const char *filename="C:\\Documents and Settings\\ogvalent\\Desktop\\I90Controller_V2\\I90Controller\\BackDist1D.mat";
	
	pmatFile = matOpen(filename,"r");
	pMxArray = matGetVariable(pmatFile,"back_dist_1D");
	Back_Dist = (double *)mxGetData(pMxArray);
	
	matClose(pmatFile);
	mxFree(pMxArray);
	mxFree(pmatFile);
 
    const char *filename1="C:\\Documents and Settings\\ogvalent\\Desktop\\I90Controller_V2\\I90Controller\\bluePattern1D.mat";
 
	pmatFile1 = matOpen(filename1,"r");
	pMxArray1 = matGetVariable(pmatFile1,"blue_dist_1D");
	blue_Dist = (double *)mxGetData(pMxArray1);
 
	matClose(pmatFile1);
	mxFree(pMxArray1);
	mxFree(pmatFile1);
 
	const char *filename2="C:\\Documents and Settings\\ogvalent\\Desktop\\I90Controller_V2\\I90Controller\\greenPattern1D.mat";
 
	pmatFile2 = matOpen(filename2,"r");
	pMxArray2= matGetVariable(pmatFile2,"green_dist_1D");
	green_Dist = (double *)mxGetData(pMxArray2);
	
	matClose(pmatFile2);
	mxFree(pMxArray2);
	mxFree(pmatFile2);
 
 
	const char *filename3="C:\\Documents and Settings\\ogvalent\\Desktop\\I90Controller_V2\\I90Controller\\lilaPattern1D.mat";
	
	pmatFile3 = matOpen(filename3,"r");
	pMxArray3 = matGetVariable(pmatFile3,"lila_dist_1D");
	lila_Dist = (double *)mxGetData(pMxArray3);
 
	matClose(pmatFile3);
	mxFree(pMxArray3);
	mxFree(pmatFile3);
	
	const char *filename4="C:\\Documents and Settings\\ogvalent\\Desktop\\I90Controller_V2\\I90Controller\\orangePattern1D.mat";
	
	pmatFile4 = matOpen(filename4,"r");
	pMxArray4 = matGetVariable(pmatFile4,"orange_dist_1D");
	orange_Dist = (double *)mxGetData(pMxArray4);
	
	matClose(pmatFile4);
	mxFree(pMxArray4);
	mxFree(pmatFile4);
 
	const char *filename5="C:\\Documents and Settings\\ogvalent\\Desktop\\I90Controller_V2\\I90Controller\\pinkPattern1D.mat";
	
	pmatFile5 = matOpen(filename5,"r");
	pMxArray5 = matGetVariable(pmatFile5,"pink_dist_1D");
	pink_Dist = (double *)mxGetData(pMxArray5);
 	
 
	matClose(pmatFile5);
	mxFree(pMxArray5);
	mxFree(pmatFile5);
}
detect CI90ControllerDlg::ImageSegmentation(const unsigned char* pBGR,double* Back_Dist,double* blue_Dist,double* green_Dist,double* pink_Dist,double* lila_Dist,double* orange_Dist)
{
		//Define some parameters for segmentation
		char colordetect1;
 
		int HIST_RES = 32;			//number of classes in each color band
		int HIST_SUB_FACTOR;
		double P_fg = 0.09;			//probability of foreground
		double K_TH = 0.0673;		// ratio of probability of foreground to probability of background
		HIST_SUB_FACTOR = 256 / HIST_RES;
		double P_bg;
		P_bg = 1 - P_fg;
 
		
		unsigned int* m_bdata=new unsigned int[m_Width*m_Height];
		unsigned int* m_gdata=new unsigned int[m_Width*m_Height];
		unsigned int* m_rdata=new unsigned int[m_Width*m_Height];
		unsigned int* index=new unsigned int[m_Width*m_Height];
		double* p_blue_pixel=new double[m_Width*m_Height];
		double* p_green_pixel=new double[m_Width*m_Height];
		double* p_pink_pixel=new double[m_Width*m_Height];
		double* p_orange_pixel=new double[m_Width*m_Height];
		double* p_lila_pixel=new double[m_Width*m_Height];
		double* p_back_pixel=new double[m_Width*m_Height];
		//int *colorlist=new int [5];
 
		for(int i=0;i<5;i++)
		{
			colorlist[i]=0;
		}
 
 
 
		//defined by gabi for detecting the color and returning the position of the pixel
		
		
 
		//Initialize the output
		 
		        
        //RGB version
		// Read in the frame
		for (unsigned int i = 0; i < m_Width*m_Height; i++) 
		{
                m_bdata[i] = *pBGR++;
                m_gdata[i] = *pBGR++;
                m_rdata[i] = *pBGR++;                
        }     
				
		 // Rescale R, G, B to be between 0 and HIST_RES
		 for (unsigned int z = 0; z < m_Width*m_Height;z++)
		 {
			 m_bdata[z] = m_bdata[z] / HIST_SUB_FACTOR + 1;
			 m_gdata[z] = m_gdata[z] / HIST_SUB_FACTOR + 1;
			 m_rdata[z] = m_rdata[z] / HIST_SUB_FACTOR + 1;
		 }
 
		 // Convert R, G, B into idices to be used in indexing the skin and background distributions
		 
 
		 for (unsigned int z = 0; z < m_Width*m_Height; z++) 
		 {
			 index[z] = (m_bdata[z] - 1) * HIST_RES*HIST_RES + (m_gdata[z] - 1) * HIST_RES + m_rdata[z];
			 //index[z] = (m_rdata[z] - 1) * HIST_RES*HIST_RES + (m_gdata[z] - 1) * HIST_RES + m_bdata[z];
		 }
 
		 // Get the probability of being foreground and background at each pixel
		 
		 int index_temp;
		 
		 colordetect1='a';
		 //for(int k=0;k<5;k++)
		 //{
		 //colordetect1[k]='a';
		 //}
		
		
 
		 for (unsigned int z = 0; z <m_Width*m_Height; z++) 
		 {
			 index_temp = index[z];
			 p_blue_pixel[z] = blue_Dist[index_temp-1];
			 p_green_pixel[z]= green_Dist[index_temp-1];	
			 p_pink_pixel[z] = pink_Dist[index_temp-1];
			 p_lila_pixel[z] = lila_Dist[index_temp-1];
			 p_orange_pixel[z] = orange_Dist[index_temp-1];
			 p_back_pixel[z] = Back_Dist[index_temp-1];
		 }
 
		 // Find the indices of pixels that are classified as skin by Bayes'
		double suma=0;
		for(int i=0;i<m_Width*m_Height;i++)
		{
			suma=suma+p_lila_pixel[i];
		}
		double indice=0;
		 for (unsigned int z = 0; z < m_Width*m_Height; z++) 
		 {
			 p_temp = p_blue_pixel[z] / (K_TH * P_bg / P_fg);
 
			 if (p_temp > p_back_pixel[z]) 
			 {
				 colblue = z % m_Width-1;//this are the index of the pixel
				 rowblue = z / m_Width;
				
				 colorposition.col[0]=colblue;
				 colorposition.row[0]=rowblue;
				 numberofbluepixel++;
				 
			 }
			double suma11=0;
			p_temp1 = p_green_pixel[z] / (K_TH * P_bg / P_fg);
 
			 if (p_temp1 > p_back_pixel[z]) 
			 {
				 colgreen = z % m_Width-1;//this are the index of the pixel
				 rowgreen = z / m_Width;
				 indice = (IMAGE_HEIGHT - 1)*colgreen + IMAGE_WIDTH;
				
				 colorposition.col[1]=colgreen;
				 colorposition.row[1]=rowgreen;
				 numberofgreenpixel++;
 
				
			 }
 
			//for(int i=0;i<m_Width*m_Height;i++)
			//{
		//		suma11=suma11 + p_green_pixel[i];
		//	}
 
			 p_temp2 = p_orange_pixel[z] / (K_TH * P_bg / P_fg);
 
			 if (p_temp2 > p_back_pixel[z]) 
			 {
				colorange = z % m_Width-1;//this are the index of the pixel
				roworange = z / m_Width;
				 colorposition.col[2]=colorange;
				 colorposition.row[2]=roworange;
				numberoforangepixel++;
				
			 }
 
			p_temp3 = p_lila_pixel[z] / (K_TH * P_bg / P_fg);
 
			 if (p_temp3 > p_back_pixel[z]) 
			 {
				 collila = z % m_Width-1;//this are the index of the pixel
				 rowlila = z / m_Width;
				 colorposition.col[3]=collila;
				 colorposition.row[3]=rowlila;
				 numberoflilapixel++;
				
			 }
 
			 p_temp4 = p_pink_pixel[z] / (K_TH * P_bg / P_fg);
 
			 if (p_temp4 > p_back_pixel[z]) 
			 {
				 colpink = z % m_Width-1;//this are the index of the pixel
				 rowpink = z / m_Width;
				 colorposition.col[4]=colpink;
				 colorposition.row[4]=rowpink;
				 numberofpinkpixel++;
				
			 }
 
		 }
		
		 colorlist[0]=numberofbluepixel;
		 colorlist[1]=numberofgreenpixel;
		 colorlist[2]=numberoforangepixel;
		  colorlist[3]=numberoflilapixel;
		  colorlist[4]=numberofpinkpixel;
		  int indexofcolors[6];
		
		int* maxcolorandindex;
		 maxcolorandindex=MaxofVector(colorlist,5);
		 if (maxcolorandindex[0]!=0)
		 {
			 if(maxcolorandindex[1]==0)
			 {
				colordetect1='b';
			 }
 
			  if(maxcolorandindex[1]==1)
			 {
				
				colordetect1='g';
			 }
			   if(maxcolorandindex[1]==2)
			 {
				 colordetect1='o';
			 }
			    if(maxcolorandindex[1]==3)
			 {
				  colordetect1='l';
			 }
				 if(maxcolorandindex[1]==4)
			 {
			 colordetect1='p';
			 }
		 }
		 else
		 {
			 colordetect1='n';
		 }
 
	
		 colorposition.character=colordetect1;
		 
 
 		delete [] m_bdata;
		m_bdata = 0;
 
 
		delete [] m_gdata;
		m_gdata = 0;
		delete []m_rdata;
		m_rdata = 0;
		delete [] index;
		index = 0;
		
		delete [] p_blue_pixel;
		p_blue_pixel =0;
		delete [] p_green_pixel;
		p_green_pixel = 0;
		delete [] p_pink_pixel;
		p_pink_pixel = 0;
		delete [] p_orange_pixel;
		p_orange_pixel = 0;
		delete [] p_lila_pixel;
		p_lila_pixel = 0;
		delete [] p_back_pixel;
		p_back_pixel = 0;
		
		
		
		
 
		return colorposition;
		
		 
}
 double CI90ControllerDlg::Angle2PI(double tempAngle)
 
{
 
double numberPI;
 
numberPI = abs(tempAngle) / (3.14 * 2);
 
if (( abs(tempAngle) - numberPI * (3.14 * 2)) >= 0)
{
numberPI = numberPI ;
}
 
else
{
	numberPI =numberPI - 1;
}
 
tempAngle = (abs(tempAngle) - numberPI * (3.14 * 2));
 
return tempAngle;
 
} 
 
 double CI90ControllerDlg::AnglePI(double tempAngle)
 
{
 
if (tempAngle > 3.14)
 
tempAngle = tempAngle - (3.14 * 2);
 
if (tempAngle < -3.14)
 
tempAngle = tempAngle + (3.14* 2);
 
return tempAngle;
 
}
//CImage* CI90ControllerDlg::Sobel(CImage* image)
 void CI90ControllerDlg::Sobel(CImage* image,CImage *returnImage)
 {
	 
 
   returnImage->Create(image->GetWidth(),image->GetHeight(), image->GetBPP(),0);
   
   double GX[3][3],GY[3][3];
   int		sumX = 0;
   int		sumY = 0;
   int		SUM = 0;
 
   // Masks //////////////////////////////////////
   //X//
   GX[0][0] = -1; GX[0][1] = 0; GX[0][2] = 1;
   GX[1][0] = -2; GX[1][1] = 0; GX[1][2] = 2;
   GX[2][0] = -1; GX[2][1] = 0; GX[2][2] = 1;
   //Y//
   GY[0][0] =  1; GY[0][1] = 2; GY[0][2] = 1;
   GY[1][0] =  0; GY[1][1] = 0; GY[1][2] = 0;
   GY[2][0] = -1; GY[2][1] = -2; GY[2][2] = -1;
   //int r=image->GetHeight();
	Ypix=0;
   for(int Ypix; Ypix < image->GetHeight(); Ypix++)  
   {
	for(int X=0; X < image->GetWidth(); X++)  
	{
	     sumX = 0;
	     sumY = 0;
 
	     if(Ypix==0 || Ypix == image->GetHeight()-1)
		SUM = 0;
	     else if(X==0 || X == image->GetWidth()-1)
		SUM = 0;
	     else
	     {
	         for(int I=-1; I<=1; I++)  
			 {
				for(int J=-1; J<=1; J++) 
					{
 
					int piX = J + X;
					int piY = I + Ypix;
 
					COLORREF pixVal = image->GetPixel(piX,piY);
 
					int R = GetRValue(pixVal);
					int G = GetGValue(pixVal);
					int B = GetBValue(pixVal);
 
					int NC = (R+G+B)/3;
 
					sumX = sumX + (NC) * GX[J+1][I+1];
					sumY = sumY + (NC) * GY[J+1][I+1];  
 
					}
	         }
                SUM = abs(sumX) + abs(sumY);
          }
         if(SUM>255) SUM=255;
         if(SUM<0) SUM=0;
         int newPixel = (255 - (unsigned char)(SUM));
 
         COLORREF newPixCol =  RGB(newPixel,newPixel,newPixel);
         returnImage->SetPixel(X,Ypix,newPixCol) ;
         }
   }
  // return returnImage;
 
 }
 
//function that loads in the header
bool CI90ControllerDlg::LoadP5Header(ifstream &infile, PIC &pic)
{
    bool rtv = true;
    char buf[16];
    int bufIndex;
    int width, height, maxval;
 
    infile.read(buf, 2); // get the magic number
    buf[2]='\0';
 
    if(buf[0] == 'P' && buf[1] == '5')
	//if(buf[0] == 'P' && buf[1] == '2')
	{
        infile.read(buf, 1);
        while(isspace(buf[0])) // Skip white space(s)
		{
            infile.read(buf,1);
		}
 
        // get width
        bufIndex = 0;
        while(bufIndex < 15 && !isspace(buf[bufIndex]))
		{
            bufIndex++;
            infile.read(buf+bufIndex, 1);
        }
        buf[bufIndex] = NULL;  // null terminated string
        width = atoi(buf);
 
        // get height
        infile.read(buf,1);
        while(isspace(buf[0])) // Skip white space(s)
		{
            infile.read(buf,1);
        }
        bufIndex = 0;  //line 
        while(bufIndex < 15 && !isspace(buf[bufIndex]))
		{
            bufIndex++;
            infile.read(buf+bufIndex, 1);
        }
        buf[bufIndex] = NULL;  // null terminated string
        height = atoi(buf);
 
       // get Maxval
		infile.read(buf,1);
        while(isspace(buf[0])) // Skip white space(s)
		{
            infile.read(buf,1);
        }
        bufIndex = 0;
        while(bufIndex < 15 && !isspace(buf[bufIndex]))
		{
            bufIndex++;
            infile.read(buf+bufIndex, 1);
        }
        buf[bufIndex] = NULL;  // null terminated string
        maxval = atoi(buf);
 
		// Skip white space(s)
		//infile.read(buf,1);
 
        // set the image information in the struct
        pic.InterLeaved = false;
        pic.Width = width;
        pic.Height = height;
		pic.Maxval = maxval;
 
    }
    else rtv = false;
 
    return rtv;
}; // end of LoadP5Header()
 
//function that accepts an infile object and a PIC Object
//and reads in the PIC object
void CI90ControllerDlg::LoadImage(ifstream &infile, PIC &pic)
{
    infile.read(reinterpret_cast<char *>(pic.img), pic.Width*pic.Height);
}
 
//function that accepts an outstream file and a PIC object to
//and writes the output stream to the PIC object
void CI90ControllerDlg::WritePGM(ofstream & outfile, PIC pic)
{
    //outfile << "P5" << endl;
	outfile << "P5" << endl;
    outfile << pic.Width << " " << pic.Height << endl;
	outfile << pic.Maxval << endl;
	pic.nChannel=1;
	pic.InterLeaved = false;
    outfile.write(reinterpret_cast<char *>(pic.img), pic.Width*pic.Height);
}
 
 //void CI90ControllerDlg::Canny_Edge(PIC Pin_t, int Mask[5][5], char *outFileName_Pout)
void CI90ControllerDlg::Canny_Edge(PIC Pin_t, double Mask[5][5], char *outFileName_Pout)
{
    
        ofstream outfile_Pout;
 
        outfile_Pout.open(outFileName_Pout, ios::binary);
        
        int **IMG__gaussian_matrix = AllocateDynamicArray<int>(Pin_t.Width+6,Pin_t.Height+6);
        int **IMG_temp_matrix = AllocateDynamicArray<int>(Pin_t.Width,Pin_t.Height);
		int **IMG_temp_matrix_2 = AllocateDynamicArray<int>(Pin_t.Width+2,Pin_t.Height+2);
		int **IMG_final_matrix = AllocateDynamicArray<int>(Pin_t.Width,Pin_t.Height);
 
		int **IMG__sobel_matrix = AllocateDynamicArray<int>(Pin_t.Width+2,Pin_t.Height+2);
		float **IMG__gradient_matrix = AllocateDynamicArray<float>(Pin_t.Width+1,Pin_t.Height+1);
		int **IMG__direction_matrix = AllocateDynamicArray<int>(Pin_t.Width,Pin_t.Height);
		
		int Sobel_Filter_x [3][3] = {{-1,0,1},
								{-2,0,2},
								{-1,0,1}};
 
		int Sobel_Filter_y [3][3] = {{1,2,1},
								{0,0,0},
								{-1,-2,-1}};
   
        int Npixels, numberpixel,pixelCnt, gaussianValue, Gx, Gy, finalAngle;
		float tempAngle;
        int upperThresh, lowerThresh;
		upperThresh=60;
		lowerThresh=10;
		Npixels = Pin_t.Width*Pin_t.Height;
		Pin_t.Maxval = 255;
 
		//Create a two pixel layer of black border around the original image to apply the gaussian mask to boundary values
 
        for(int j = 0; j <= Pin_t.Height+3; j++)
        {
             IMG__gaussian_matrix[0][j] = 0;
             IMG__gaussian_matrix[1][j] = 0;
             IMG__gaussian_matrix[Pin_t.Width+2][j] = 0; 
             IMG__gaussian_matrix[Pin_t.Width+3][j] = 0; 
        }
        
        for(int k = 0; k <= Pin_t.Width+3; k++)
        {
             IMG__gaussian_matrix[k][0] = 0;
             IMG__gaussian_matrix[k][1] = 0;
             IMG__gaussian_matrix[k][Pin_t.Height+2] = 0;
             IMG__gaussian_matrix[k][Pin_t.Height+3] = 0;
        }
 
        pixelCnt = 0;
        
		//make 2D matrix of input
 
        for(int j = 2; j < Pin_t.Height + 2; j++)
        {
              for(int k = 2; k < Pin_t.Width + 2; k++)
              {
                    IMG__gaussian_matrix[k][j] = (int) Pin_t.img[pixelCnt];
                    pixelCnt++;
              }
         }
 
 
		// Gaussian Smooth the Original Image
 
        
        for(int j=2; j <= Pin_t.Height+1; j++)
        {           
            for(int k=2; k <= Pin_t.Width+1; k++)
            {      
 
                      gaussianValue = Mask[0][0]*IMG__gaussian_matrix[k-2][j-2] + Mask[0][1]*IMG__gaussian_matrix[k-2][j-1] + Mask[0][2]*IMG__gaussian_matrix[k-2][j] + Mask[0][3]*IMG__gaussian_matrix[k-2][j+1] + Mask[0][3]*IMG__gaussian_matrix[k-2][j+2]
					             + Mask[1][0]*IMG__gaussian_matrix[k-1][j-2] + Mask[1][1]*IMG__gaussian_matrix[k-1][j-1] + Mask[1][2]*IMG__gaussian_matrix[k-1][j] + Mask[1][3]*IMG__gaussian_matrix[k-1][j+1] + Mask[1][4]*IMG__gaussian_matrix[k-1][j+2]
								 + Mask[2][0]*IMG__gaussian_matrix[k][j-2] + Mask[2][1]*IMG__gaussian_matrix[k][j-1] + Mask[2][2]*IMG__gaussian_matrix[k][j] + Mask[2][3]*IMG__gaussian_matrix[k][j+1] + Mask[2][4]*IMG__gaussian_matrix[k][j+2]
                                 + Mask[3][0]*IMG__gaussian_matrix[k+1][j-2] + Mask[3][1]*IMG__gaussian_matrix[k+1][j-1] + Mask[3][2]*IMG__gaussian_matrix[k+1][j] + Mask[3][3]*IMG__gaussian_matrix[k+1][j+1] + Mask[3][4]*IMG__gaussian_matrix[k+1][j+2]
                                 + Mask[4][0]*IMG__gaussian_matrix[k+2][j-2] + Mask[4][1]*IMG__gaussian_matrix[k+2][j-1] + Mask[4][2]*IMG__gaussian_matrix[k+2][j] + Mask[4][3]*IMG__gaussian_matrix[k+2][j+1] + Mask[4][4]*IMG__gaussian_matrix[k+2][j+2];
								
 
                // IMG_temp_matrix[k-2][j-2] = (int)(gaussianValue/159);
				  IMG_temp_matrix[k-2][j-2] = (int)(gaussianValue);
            } 
        }
		
		//Create a single pixel layer of black border around the smoothed image to apply the sobel mask to boundary values
 
        for(int j = 0; j <= Pin_t.Height+1; j++)
        {
 
             IMG_temp_matrix_2[0][j] = 0;
             IMG_temp_matrix_2[Pin_t.Width+1][j] = 0; 
        }
        
        for(int k = 0; k <= Pin_t.Width+1; k++)
        {
             IMG_temp_matrix_2[k][0] = 0;
             IMG_temp_matrix_2[k][Pin_t.Height+1] = 0;
        }
		for(int j1=1; j1 <= Pin_t.Width-1;j1++)
		{
			for(int k0 =1; k0 <= Pin_t.Height;k0++)
			{
				IMG_temp_matrix_2[k0][j1]=IMG_temp_matrix[k0-1][j1-1];
			}
		}
 
		// Filter the Smoothed Image with both the x and y direction sobel masks and in each iteration determine the magnitude of the gradient as well as the direction
 
		for(int j=1; j <= Pin_t.Height; j++)
				{           
					for(int k=1; k <= Pin_t.Width; k++)
					{      
 
							 Gx = Sobel_Filter_x[1][1]*IMG_temp_matrix_2[k][j]        
											 + Sobel_Filter_x[2][1]*IMG_temp_matrix_2[k+1][j]
											 + Sobel_Filter_x[0][1]*IMG_temp_matrix_2[k-1][j]
											 + Sobel_Filter_x[1][2]*IMG_temp_matrix_2[k][j+1]
											 + Sobel_Filter_x[1][0]*IMG_temp_matrix_2[k][j-1]
											 + Sobel_Filter_x[0][0]*IMG_temp_matrix_2[k-1][j-1]
											 + Sobel_Filter_x[2][0]*IMG_temp_matrix_2[k+1][j-1]
											 + Sobel_Filter_x[0][2]*IMG_temp_matrix_2[k-1][j+1]
											 + Sobel_Filter_x[2][2]*IMG_temp_matrix_2[k+1][j+1];
 
 							 Gy = Sobel_Filter_y[1][1]*IMG_temp_matrix_2[k][j]        
											 + Sobel_Filter_y[2][1]*IMG_temp_matrix_2[k+1][j]
											 + Sobel_Filter_y[0][1]*IMG_temp_matrix_2[k-1][j]
											 + Sobel_Filter_y[1][2]*IMG_temp_matrix_2[k][j+1]
											 + Sobel_Filter_y[1][0]*IMG_temp_matrix_2[k][j-1]
											 + Sobel_Filter_y[0][0]*IMG_temp_matrix_2[k-1][j-1]
											 + Sobel_Filter_y[2][0]*IMG_temp_matrix_2[k+1][j-1]
											 + Sobel_Filter_y[0][2]*IMG_temp_matrix_2[k-1][j+1]
											 + Sobel_Filter_y[2][2]*IMG_temp_matrix_2[k+1][j+1];
						   
 
							// Compute gradient value
 
							//IMG__gradient_matrix[k-1][j-1] = sqrt(pow(Gx,2.0) + pow(Gy,2.0));
							IMG__gradient_matrix[0][0] = 0;				 
							IMG__gradient_matrix[k][j] = sqrt(pow(Gx,2.0) + pow(Gy,2.0));
 
							// Calculate direction of edge
 
							tempAngle = (atan2((float)Gx, (float)Gy)/3.14159) * 180.0;		
			
							// Convert edge direction to approximate value //
 
							if ( ( (tempAngle < 22.5) && (tempAngle > -22.5) ) || (tempAngle > 157.5) || (tempAngle < -157.5) )
								finalAngle = 0;
							if ( ( (tempAngle > 22.5) && (tempAngle < 67.5) ) || ( (tempAngle < -112.5) && (tempAngle > -157.5) ) )
								finalAngle = 45;
							if ( ( (tempAngle > 67.5) && (tempAngle < 112.5) ) || ( (tempAngle < -67.5) && (tempAngle > -112.5) ) )
								finalAngle = 90;
							if ( ( (tempAngle > 112.5) && (tempAngle < 157.5) ) || ( (tempAngle < -22.5) && (tempAngle > -67.5) ) )
								finalAngle = -45;
 
							IMG__direction_matrix[k-1][j-1] = finalAngle;
 
					} 
				}
		/*pixelCnt = 0;
        for(int j = 0; j < Pin_t.Height; j++)
        {
              for(int k = 0; k < Pin_t.Width; k++)
              {
                    Pin_t.img[pixelCnt] = (unsigned char) ( IMG__direction_matrix[k][j]);
                    pixelCnt++;
              }
         }
		WritePGM(outfile_Pout,Pin_t);
		*/
 
		// Perform Nonmaxima suppression 
 
		for(int j=0; j < Pin_t.Height; j++)
				{           
					for(int k=0; k < Pin_t.Width; k++)
					{  
 
						switch (IMG__direction_matrix[k][j]){		
							
							case 0:
								
								if(j == 0)
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k][j+1])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
 
								}
 
								else if( j == (Pin_t.Height - 1))
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k][j-1])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
								}
 
								else
								{
 
									if((IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k][j-1]) || (IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k][j+1]))
									{
										IMG__gradient_matrix[k][j] = 0;
									}
 
								}
 
								break;
 
							case 45:
								
								if((k == 0) && (j == (Pin_t.Height - 1)))
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k+1][j-1])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
								}
 
								else if((k == Pin_t.Width -1) && (j == 0))
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k-1][j+1])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
								}
 
								/*else
								{
 
									if((IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k-1][j+1]) || (IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k+1][j-1]))
									{
										IMG__gradient_matrix[k][j] = 0;
									}
 
								}*/
							
 
								break;
 
							case 90:
								
								if(k == 0)
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k+1][j])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
 
								}
 
								else if( k == (Pin_t.Width - 1))
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k+1][j])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
								}
 
								else
								{
 
									if((IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k-1][j]) || (IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k-1][j]))
									{
										IMG__gradient_matrix[k][j] = 0;
									}
 
								}
								break;
 
							case -45:
 
								if((k == 0) && (j == 0))
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k+1][j+1])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
								}
 
								else if((k == Pin_t.Width -1) && (j == (Pin_t.Height -1)))
								{
									if(IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k-1][j-1])
									{
										IMG__gradient_matrix[k][j] = 0;
									}
								}
 
								else
								{
 
									if((IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k+1][j+1]) || (IMG__gradient_matrix[k][j] < IMG__gradient_matrix[k-1][j-1]))
									{
										IMG__gradient_matrix[k][j] = 0;
									}
 
								}
 
								break;
							}
						
							if(IMG__gradient_matrix[k][j] >= upperThresh)
							{
								IMG__gradient_matrix[k][j] = 255;
							}
							else if (IMG__gradient_matrix[k][j] < lowerThresh)
							{
								IMG__gradient_matrix[k][j] = 0;
							}
							/*
							else
							{ 
								if((IMG__gradient_matrix[k-1][j-1] > upperThresh ) || (IMG__gradient_matrix[k][j-1] > upperThresh) || (IMG__gradient_matrix[k+1][j+1] > upperThresh) || (IMG__gradient_matrix[k+1][j] > upperThresh) || (IMG__gradient_matrix[k+1][j+1] > upperThresh) || (IMG__gradient_matrix[k][j+1] > upperThresh) || (IMG__gradient_matrix[k-1][j-1] > upperThresh) || (IMG__gradient_matrix[k-1][j] > upperThresh))
							{
								IMG__gradient_matrix[k][j] = 255;
							}
								else 
								{
									IMG__gradient_matrix[k][j] = 0;
								}
							}*/
 
 
					}
 
		}
 
		// Insert Hysterisys Algorithm here //
 
		
        
        //output the calculated 2D matrix to original 1D
		numberpixel = 0;
        pixelCnt = 0;
        for(int j = 0; j < Pin_t.Height; j++)
        {
              for(int k = 0; k < Pin_t.Width; k++)
              {		
					if ((IMG__gradient_matrix[k][j]==255)&&(IMG__gradient_matrix[k][j-1]==255)&&(IMG__gradient_matrix[k][j+1]==255)) // && (IMG__gradient_matrix[k+1][j]==255) && (IMG__gradient_matrix[k-1][j]==255) && (IMG__gradient_matrix[k+1][j+1]==255) && (IMG__gradient_matrix[k-1][j+1]==255))
					{
						numberpixel ++;
						if ((numberpixel > 0)&& (numberpixel < 800))
							{
								IMG__gradient_matrix[k][j]=0;	
							}
						landmark = true;	
					}
					
                    Pin_t.img[pixelCnt] = (unsigned char) (IMG__gradient_matrix[k][j]);
                    pixelCnt++;
              }
         }
		// outfile_Pout.nChannel = 1;
        //outfile_Pout.InterLeaved = false;
 
 	//outfile_Pout.close();
        WritePGM(outfile_Pout, Pin_t);
	
		FreeDynamicArray(IMG__gaussian_matrix,Pin_t.Width+6);
		FreeDynamicArray(IMG_temp_matrix_2,Pin_t.Width+2);
		FreeDynamicArray(IMG_temp_matrix,Pin_t.Width);	
		FreeDynamicArray(IMG_final_matrix,Pin_t.Width);
		FreeDynamicArray(IMG__sobel_matrix,Pin_t.Width+2);
		FreeDynamicArray(IMG__gradient_matrix,Pin_t.Width+1);
		FreeDynamicArray(IMG__direction_matrix,Pin_t.Width);
	
 
 }
                                              

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