kashimAstro

//https://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical

class Kalman {
public:
    Kalman() {
        Q_angle = 0.001;
        Q_bias = 0.003;
        R_measure = 0.03;
        angle = 0;
        bias = 0;

kashimAstro

vec2 rand(vec2 coord, vec2 uv, float noiseamount, bool noise) {
        float noiseX = ((fract(1.0-coord.s*(uv.x/2.0))*0.25)+(fract(coord.t*(uv.y/2.0))*0.75))*2.0-1.0;
        float noiseY = ((fract(1.0-coord.s*(uv.x/2.0))*0.75)+(fract(coord.t*(uv.y/2.0))*0.25))*2.0-1.0;
        if (noise) {
                noiseX = clamp(fract(sin(dot(coord ,vec2(12.9898,78.233))) * 43758.5453),0.0,1.0)*2.0-1.0;
                noiseY = clamp(fract(sin(dot(coord ,vec2(12.9898,78.233)*2.0)) * 43758.5453),0.0,1.0)*2.0-1.0;
        }
        return vec2(noiseX,noiseY)*noiseamount;
}

kashimAstro

#!/usr/bin/python

import smbus
import math
import socket
import sys
import time

if len(sys.argv) < 4:
    sys.exit('Usage: %s IPADDRESS PORT ID_BUS_I2C' % sys.argv[0])

kashimAstro

#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>

class i2cReadWrite {
        public:
        int file_i2c;
        unsigned char buffer[60];
        int length=2;

kashimAstro

per ogni y dall'alto in basso
   per ogni x da sinistra a destra
      vecchio_pixel := pixel[x][y]
      nuovo_pixel := trova_il_colore_della_tavolozza_più_vicino(vecchio_pixel)
      pixel[x][y] := nuovo_pixel
      quant_errore := vecchio_pixel - nuovo_pixel
      pixel[x+1][y] := pixel[x+1][y] + 7/16 * quant_errore
      pixel[x-1][y+1] := pixel[x-1][y+1] + 3/16 * quant_errore
      pixel[x][y+1] := pixel[x][y+1] + 5/16 * quant_errore
      pixel[x+1][y+1] := pixel[x+1][y+1] + 1/16 * quant_errore

kashimAstro

unsigned char * floydSteinberg(unsigned char * source, int w, int h){
     unsigned char * newSource;
     for(int i=0; i<(h*3); i++){
        for(int j=0; j<w; j++) {
           int ci = i*w+j;
           int cc = source[ci];
           int rc = (cc<128?0:255);
           int err = cc-rc;
           source[ci] = rc;
           if(j+1<w) source[ci+1] += (err*7)>>4;