int main(int argc, char **argv)
{
int ret = 0;
catcierge_matcher_t *matcher = NULL;
IplImage *img = NULL;
CvSize img_size;
CvScalar match_color;
int match_success = 0;
double match_res = 0;
int i;
int j;
int success_count = 0;
match_result_t result;
clock_t start;
clock_t end;
catcierge_args_t args;
memset(&args, 0, sizeof(args));
memset(&result, 0, sizeof(result));
fprintf(stderr, "Catcierge Image match Tester (C) Joakim Soderberg 2013-2016\n");
if (catcierge_args_init(&args, argv[0]))
{
fprintf(stderr, "Failed to init args\n");
return -1;
}
if (add_options(&args))
{
fprintf(stderr, "Failed to init tester args\n");
ret = -1; goto fail;
}
if (catcierge_args_parse(&args, argc, argv))
{
ret = -1; goto fail;
}
// Create output directory.
if (ctx.save)
{
catcierge_make_path("%s", ctx.output_path);
}
if (catcierge_matcher_init(&matcher, catcierge_get_matcher_args(&args)))
{
fprintf(stderr, "\n\nFailed to %s init matcher\n\n", matcher->name);
return -1;
}
matcher->debug = ctx.debug;
if (!(ctx.imgs = calloc(ctx.img_count, sizeof(IplImage *))))
{
fprintf(stderr, "Out of memory!\n");
ret = -1;
goto fail;
}
// TODO: Move to function
// If we should preload the images or not
// (Don't let file IO screw with benchmark)
if (ctx.preload)
{
for (i = 0; i < (int)ctx.img_count; i++)
{
printf("Preload image %s\n", ctx.img_paths[i]);
if (!(ctx.imgs[i] = cvLoadImage(ctx.img_paths[i], 1)))
{
fprintf(stderr, "Failed to load match image: %s\n", ctx.img_paths[i]);
ret = -1;
goto fail;
}
}
}
start = clock();
if (ctx.test_matchable)
{
for (i = 0; i < (int)ctx.img_count; i++)
{
// This tests if an image frame is clear or not (matchable).
int frame_obstructed;
if ((frame_obstructed = matcher->is_obstructed(matcher, ctx.imgs[i])) < 0)
{
fprintf(stderr, "Failed to detect check for matchability frame\n");
return -1;
}
printf("%s: Frame obstructed = %d\n",
ctx.img_paths[i], frame_obstructed);
if (ctx.show)
{
cvShowImage("image", ctx.imgs[i]);
cvWaitKey(0);
}
}
}
else
{
for (i = 0; i < (int)ctx.img_count; i++)
{
match_success = 0;
printf("---------------------------------------------------\n");
printf("%s:\n", ctx.img_paths[i]);
if (ctx.preload)
{
img = ctx.imgs[i];
}
else
{
if (!(img = cvLoadImage(ctx.img_paths[i], 1)))
{
fprintf(stderr, "Failed to load match image: %s\n", ctx.img_paths[i]);
goto fail;
}
}
img_size = cvGetSize(img);
printf(" Image size: %dx%d\n", img_size.width, img_size.height);
if ((match_res = matcher->match(matcher, img, &result, 0)) < 0)
{
fprintf(stderr, "Something went wrong when matching image: %s\n", ctx.img_paths[i]);
catcierge_matcher_destroy(&matcher);
return -1;
}
match_success = (match_res >= args.templ.match_threshold);
if (match_success)
{
printf(" Match (%s)! %f\n", catcierge_get_direction_str(result.direction), match_res);
match_color = CV_RGB(0, 255, 0);
success_count++;
}
else
{
printf(" No match! %f\n", match_res);
match_color = CV_RGB(255, 0, 0);
}
if (ctx.show || ctx.save)
{
for (j = 0; j < (int)result.rect_count; j++)
{
printf("x: %d\n", result.match_rects[j].x);
printf("y: %d\n", result.match_rects[j].y);
printf("w: %d\n", result.match_rects[j].width);
printf("h: %d\n", result.match_rects[j].height);
cvRectangleR(img, result.match_rects[j], match_color, 1, 8, 0);
}
if (ctx.show)
{
cvShowImage("image", img);
cvWaitKey(0);
}
if (ctx.save)
{
char out_file[PATH_MAX];
char tmp[PATH_MAX];
char *filename = tmp;
char *ext;
char *start;
// Get the extension.
strncpy(tmp, ctx.img_paths[i], sizeof(tmp));
ext = strrchr(tmp, '.');
*ext = '\0';
ext++;
// And filename.
filename = strrchr(tmp, '/');
start = strrchr(tmp, '\\');
if (start> filename)
filename = start;
filename++;
snprintf(out_file, sizeof(out_file) - 1, "%s/match_%s__%s.%s",
ctx.output_path, match_success ? "ok" : "fail", filename, ext);
printf("Saving image \"%s\"\n", out_file);
cvSaveImage(out_file, img, 0);
}
}
cvReleaseImage(&img);
}
}
end = clock();
if (!ctx.test_matchable)
{
if (ctx.show)
{
printf("Note that the duration is affected by using --show\n");
}
printf("%d of %d successful! (%f seconds)\n",
success_count, (int)ctx.img_count, (float)(end - start) / CLOCKS_PER_SEC);
}
fail:
catcierge_matcher_destroy(&matcher);
cvDestroyAllWindows();
return ret;
}
int main(int argc, char **argv)
{
catcierge_args_t *args = &grb.args;
fprintf(stderr, "\nCatcierge Grabber v" CATCIERGE_VERSION_STR " (" CATCIERGE_GIT_HASH_SHORT "");
// Was this built with changes in the git sources?
#ifdef CATCIERGE_GIT_TAINTED
fprintf(stderr, "-tainted");
#endif
fprintf(stderr, ")\n(C) Joakim Soderberg 2013-2016\n\n");
fprintf(stderr, "Library versions:\n");
fprintf(stderr, " OpenCV v%d.%d.%d\n", CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
#ifdef WITH_ZMQ
fprintf(stderr, " CZMQ v%d.%d.%d\n", CZMQ_VERSION_MAJOR, CZMQ_VERSION_MINOR, CZMQ_VERSION_PATCH);
#endif
fprintf(stderr, "\n");
// TODO: Enable specifying pid path on command line.
#ifndef _WIN32
pid_fd = create_pid_file(argv[0], PID_PATH, FD_CLOEXEC);
#endif
if (catcierge_grabber_init(&grb))
{
fprintf(stderr, "Failed to init\n");
return -1;
}
if (catcierge_args_init(args, argv[0]))
{
fprintf(stderr, "Failed to init args\n");
return -1;
}
if (catcierge_args_parse(args, argc, argv))
{
return -1;
}
if (args->nocolor)
{
catcierge_nocolor = 1;
}
catcierge_print_settings(args);
setup_sig_handlers();
if (args->log_path)
{
if (!(grb.log_file = fopen(args->log_path, "a+")))
{
CATERR("Failed to open log file \"%s\"\n", args->log_path);
}
}
#ifdef RPI
if (catcierge_setup_gpio(&grb))
{
CATERR("Failed to setup GPIO pins\n");
return -1;
}
CATLOG("Initialized GPIO pins\n");
#endif // RPI
assert((args->matcher_type == MATCHER_TEMPLATE)
|| (args->matcher_type == MATCHER_HAAR));
if (catcierge_matcher_init(&grb.matcher, catcierge_get_matcher_args(args)))
{
CATERR("Failed to init %s matcher\n", grb.matcher->name);
return -1;
}
CATLOG("Initialized catcierge image recognition\n");
if (catcierge_output_init(&grb, &grb.output))
{
CATERR("Failed to init output template system\n");
return -1;
}
if (catcierge_output_load_templates(&grb.output,
args->inputs, args->input_count))
{
CATERR("Failed to load output templates\n");
return -1;
}
CATLOG("Initialized output templates\n");
#ifdef WITH_RFID
catcierge_init_rfid_readers(&grb);
#endif
catcierge_setup_camera(&grb);
#ifdef WITH_ZMQ
catcierge_zmq_init(&grb);
#endif
CATLOG("Starting detection!\n");
// TODO: Create a catcierge_grb_start(grb) function that does this instead.
catcierge_fsm_start(&grb);
// Run the program state machine.
do
{
if (!catcierge_timer_isactive(&grb.frame_timer))
{
catcierge_timer_start(&grb.frame_timer);
}
// Always feed the RFID readers.
#ifdef WITH_RFID
if ((args->rfid_inner_path || args->rfid_outer_path)
&& catcierge_rfid_ctx_service(&grb.rfid_ctx))
{
CATERRFPS("Failed to service RFID readers\n");
}
#endif // WITH_RFID
grb.img = catcierge_get_frame(&grb);
catcierge_run_state(&grb);
catcierge_print_spinner(&grb);
} while (
grb.running
#ifdef WITH_ZMQ
&& !zctx_interrupted
#endif
);
catcierge_matcher_destroy(&grb.matcher);
catcierge_output_destroy(&grb.output);
catcierge_destroy_camera(&grb);
#ifdef WITH_ZMQ
catcierge_zmq_destroy(&grb);
#endif
catcierge_grabber_destroy(&grb);
catcierge_args_destroy(&grb.args);
if (grb.log_file)
{
fclose(grb.log_file);
}
#ifndef _WIN32
if (pid_fd > 0)
{
close(pid_fd);
unlink(PID_PATH);
}
#endif
return 0;
}
