static void add_reloc(Elf *elf) {
char name[100];
for (int i = 0; i < LIST_LEN(elf->sections); i++) {
Section *sect = LIST_REF(elf->sections, i);
if (LIST_LEN(sect->rels) == 0)
continue;
String *b = make_string();
for (int j = 0; j < LIST_LEN(sect->rels); j++) {
Reloc *rel = LIST_REF(sect->rels, j);
o8(b, rel->off);
if (rel->sym) {
o8(b, ELF64_R_INFO(find_symbol(elf, rel->sym)->index, rel->type));
} else {
o8(b, ELF64_R_INFO(rel->section->symindex, rel->type));
}
o8(b, rel->addend);
}
strcpy(name, ".rela");
strcpy(name + 5, sect->name);
Section *relsec = make_section(name, SHT_RELA);
relsec->link = elf->symtabnum;
relsec->info = i + 1;
relsec->body = b;
relsec->entsize = 24;
relsec->align = 4;
add_section(elf, relsec);
}
}
static void add_symtab(Elf *elf) {
String *symtabb = make_string();
String *strtabb = make_string();
o1(strtabb, 0);
// Null symbol
for (int i = 0; i < 24; i++) o1(symtabb, 0);
// File symbol
o4(symtabb, STRING_LEN(strtabb)); // st_name
ostr(strtabb, "noname");
o1(symtabb, ELF64_ST_INFO(STB_LOCAL, STT_FILE)); // st_info
o1(symtabb, 0); // other
o2(symtabb, SHN_ABS); // st_shndx
o8(symtabb, 0); // st_value
o8(symtabb, 0); // st_size
int index = 2;
write_sym_to_buf(elf, &index, symtabb, strtabb, true);
int localidx = index;
write_section_sym(elf, &index, symtabb, strtabb);
write_sym_to_buf(elf, &index, symtabb, strtabb, false);
elf->symtabnum = LIST_LEN(elf->sections) + 1;
Section *symtab = make_section(".symtab", SHT_SYMTAB);
symtab->body = symtabb;
symtab->link = LIST_LEN(elf->sections) + 2;
symtab->info = localidx + 2;
symtab->entsize = 24;
symtab->align = 4;
add_section(elf, symtab);
Section *strtab = make_section(".strtab", SHT_STRTAB);
strtab->body = strtabb;
add_section(elf, strtab);
}
static void write_one_symbol(Symbol *sym, int *index, String *symtab, String *strtab) {
if (sym->name) {
o4(symtab, STRING_LEN(strtab)); // st_name
ostr(strtab, STRING_BODY(sym->name));
} else {
o4(symtab, 0); // st_name
}
o1(symtab, ELF64_ST_INFO(sym->bind, sym->type)); // st_info;
o1(symtab, 0); // st_other;
if (sym->defined) {
o2(symtab, sym->section->shndx); // st_shndx
} else {
o2(symtab, 0); // st_shndx
}
o8(symtab, sym->value); // st_value
o8(symtab, 0); // st_size
sym->index = (*index)++;
}
void write_elf(FILE *outfile, Elf *elf) {
add_symtab(elf);
add_reloc(elf);
add_shstrtab(elf);
// Section header
String *sh = make_string();
for (int i = 0; i < 64; i++)
o1(sh, 0); // NULL section header
// Body
String *content = make_string();
for (int i = 0; i < LIST_LEN(elf->sections); i++) {
write_section(sh, content, LIST_REF(elf->sections, i), 64);
}
align(content, 16);
// ELF header
String *eh = make_string();
int numsect = LIST_LEN(elf->sections) + 1;
out(eh, elf_ident, sizeof(elf_ident));
o2(eh, 1); // e_type = ET_REL
o2(eh, 62); // e_machine = EM_X86_64
o4(eh, 1); // e_version = EV_CURRENT
o8(eh, 0); // e_entry
o8(eh, 0); // e_phoff
o8(eh, STRING_LEN(content) + 64); // e_shoff;
o4(eh, 0); // e_flags
o2(eh, 64); // e_ehsize
o2(eh, 0); // e_phentsize
o2(eh, 0); // e_phnum
o2(eh, 64); // e_shentsize
o2(eh, numsect); // e_shnum
o2(eh, elf->shnum); // e_shstrndx
fwrite(STRING_BODY(eh), STRING_LEN(eh), 1, outfile);
fwrite(STRING_BODY(content), STRING_LEN(content), 1, outfile);
fwrite(STRING_BODY(sh), STRING_LEN(sh), 1, outfile);
fclose(outfile);
}
TEST(Obis, Obis_strparsing) {
Obis o1(0x1, 0x1, 97, 97, 0xff, 0xff); // 97 = SC_F
Obis o2("1-1:F.F");
ASSERT_EQ(o1, o2);
Obis o3(0x1, 0x1, 96, 98, 0xff, 0xff); // 96 = SC_C, 98 = SC_L
Obis o4("1-1:C.L");
ASSERT_EQ(o3, o4);
Obis o5(0x1, 0x1, 96, 99, 0xff, 0xff); // 96 = SC_C, 99 = SC_P
Obis o6("1-1:C.P");
ASSERT_EQ(o5, o6);
ASSERT_THROW(Obis o7("1-1:x:y"), vz::VZException);
Obis o8("power-l1");
ASSERT_EQ(Obis("1-0:21.7"), o8);
}
static void write_section(String *header, String *content, Section *sect, int offset) {
o4(header, sect->shstrtab_off); // sh_name
o4(header, sect->type); // sh_type
o8(header, sect->flags); // sh_flags
o8(header, 0); // sh_addr
o8(header, STRING_LEN(content) + offset); // sh_offset
o8(header, STRING_LEN(sect->body)); // sh_size
o4(header, sect->link); // sh_link = SHN_UNDEF
o4(header, sect->info); // sh_info
o8(header, sect->align); // sh_addralign
o8(header, sect->entsize); // sh_entsize
out(content, STRING_BODY(sect->body), STRING_LEN(sect->body));
align(content, 16);
}
TEST(Obis, Obis_extStrParsing) {
Obis o1(0xff, 0xff, 0x0, 0x0, 0x0, 0xff);
Obis o2("0.0.0");
ASSERT_EQ(o1, o2) << o1.toString( )<< o2.toString();
ASSERT_EQ(o1.toString(), o2.toString());
Obis o3(0xff, 0xff, 0x1, 0x2, 0x3, 0xff);
Obis o4("1.2.3");
ASSERT_EQ(o3, o4);
ASSERT_EQ(o3.toString(), o4.toString());
Obis o5(0xff, 0xff, 0x61, 0x61, 0xff, 0xff);
Obis o6("F.F");
ASSERT_EQ(o5, o6);
Obis o7(0xff, 0xff, 0x0, 0x0, 0x2, 0xff);
Obis o8("0.0.2");
ASSERT_EQ(o7, o8);
// this should throw an exception as hex codes are not valid inside obis codes.
ASSERT_THROW(Obis o10("1.8.0*FF"), vz::VZException);
ASSERT_THROW(Obis o10("1.8.0*F1"), vz::VZException);
}
bool SparseRec2View::save()
{
if(!_onlymatch) {
//save reconstructed points
string path1(dir+imgname1+string("-")+imgname2+string(".X"));
std::ofstream o1(path1.c_str());
o1 << "VERTEX " << (int)results.size() << endl;
for(int i=0; i<(int)results.size(); ++i) {
o1<<results[i].x<<" "<<results[i].y<<" "<<results[i].z<<endl;
}
o1.close();
TagI("save reconstructed points to\n %s\n",path1.c_str());
//save cam par
string path7(imgpath1+string(".par"));
std::ofstream o7(path7.c_str());
o7.setf(std::ios::scientific);
o7 << "K(alphaX alphaY u0 v0)=" <<endl;
o7 << K[0] << " " << K[4] << " " << K[2] << " " << K[5] << endl;
o7 << "R=" << endl;
o7 << "1 0 0\n0 1 0\n0 0 1" <<endl;
o7 << "T=" << endl;
o7 << "0 0 0" << endl;
o7.close();
TagI("save camera 1's parameters to\n %s\n",path7.c_str());
string path8(imgpath2+string(".par"));
std::ofstream o8(path8.c_str());
o8.setf(std::ios::scientific);
o8 << "K(alphaX alphaY u0 v0)=" <<endl;
o8 << K[0] <<" "<< K[4] <<" "<< K[2] <<" "<< K[5] << endl;
o8 << "R=" << endl;
for(int i=0; i<3; ++i) {
for(int j=0; j<3; ++j) {
o8 << R[i*3+j] << " ";
}
o8 << endl;
}
o8 << "T=" << endl;
o8 << t[0] <<" "<< t[1] <<" "<< t[2] << endl;
o8.close();
TagI("save camera 2's parameters to\n %s\n",path8.c_str());
}
double fontScale=0.5;
CvPoint text_origin;
//save matched point pairs
string path2(dir+imgname1+string("-")+imgname2+string(".p1p2"));
std::ofstream o2(path2.c_str());
//out.setf(std::ios::scientific);
int cnt = 0;
for(int i=0; i<(int)p1.size(); ++i) {
if(!inliers[i]) continue;
o2 << p1[i].x <<" "<< p1[i].y <<" "<< p2[i].x <<" "<< p2[i].y <<endl;
char tmp[256];
sprintf(tmp, "%d", cnt++);
text_origin.x = (int)p1[i].x+5;
text_origin.y = (int)p1[i].y-5;
putText(img1, tmp, text_origin, CV_FONT_HERSHEY_PLAIN, fontScale, CV_BLACK);
text_origin.x = (int)p2[i].x+5;
text_origin.y = (int)p2[i].y-5;
putText(img2, tmp, text_origin, CV_FONT_HERSHEY_PLAIN, fontScale, CV_BLACK);
}
o2.close();
TagI("save matched point pairs to\n %s\n",path2.c_str());
//save images
string path3(imgpath1+string("-detect.jpg"));
string path4(imgpath2+string("-detect.jpg"));
string path5(dir+imgname1+string("-")+imgname2+string(".jpg"));
if(!img1.empty()) cv::imwrite(path3, img1);
else {
TagE("no valid image to save!\n");
return false;
}
if(!img2.empty()) cv::imwrite(path4, img2);
if(!combined.empty()) cv::imwrite(path5, combined);
TagI("save surfed image 1 to\n %s\n",path3.c_str());
TagI("save surfed image 2 to\n %s\n",path4.c_str());
TagI("save combined image to\n %s\n",path5.c_str());
//save F
string path6(dir+imgname1+string("-")+imgname2+string(".fmatrix"));
std::ofstream o6(path6.c_str());
o6 << helper::PrintMat<>(3,3,F);
o6.close();
TagI("save fundamental matrix to\n %s\n",path6.c_str());
return true;
}
/*
* START THE VM
*/
void startVM(Vm* vm)
{
vm->PC = 0;
while (charArrayToInt(0,2,vm->IR) != 99)
{
nextInstruction(vm);
switch (charArrayToInt(0,2,vm->IR))
{
case 0:
o0(vm);
break;
case 1:
o1(vm);
break;
case 2:
o2(vm);
break;
case 3:
o3(vm);
break;
case 4:
o4(vm);
break;
case 5:
o5(vm);
break;
case 6:
o6(vm);
break;
case 7:
o7(vm);
break;
case 8:
o8(vm);
break;
case 9:
o9(vm);
break;
case 10:
o10(vm);
break;
case 11:
o11(vm);
break;
case 12:
o12(vm);
break;
case 13:
o13(vm);
break;
case 14:
o14(vm);
break;
case 15:
o15(vm);
break;
case 16:
o16(vm);
break;
case 17:
o17(vm);
break;
case 18:
o18(vm);
break;
case 19:
o19(vm);
break;
case 20:
o20(vm);
break;
case 21:
o21(vm);
break;
case 22:
o22(vm);
break;
case 23:
o23(vm);
break;
case 24:
o24(vm);
break;
case 25:
o25(vm);
break;
case 26:
o26(vm);
break;
case 27:
o27(vm);
break;
case 28:
o28(vm);
break;
case 29:
o29(vm);
break;
case 30:
o30(vm);
break;
case 31:
o31(vm);
break;
case 32:
o32(vm);
break;
case 33:
o33(vm);
break;
case 34:
o34(vm);
break;
case 35:
o35(vm);
break;
case 99:
o99(vm);
break;
default:
// Code
break;
}
displayVmFinal(vm);
}
}
