NOCONSOLE_MAIN_QTHREAD(int, argc, char**, argv) {
#else
MAIN_QTHREAD(int, argc, char**, argv) {
#endif /* NOCONSOLE */
#else
int main(int argc, char **argv) {
ERROR_MSG("QT not found, install and recompile.");
#endif /* __GUI__ */
try {
if (!parse_args(argc, argv))
return -1;
// variables
range.push_back(-1.0); // default range min
range.push_back(1.0); // default range max
string conf_fname, diff_fname;
// show mat images
list<string> *argmats = new list<string>();
list<string>::iterator i;
for (int i = 1; i < argc; ++i) {
// check for options
try {
if (!strcmp(argv[i], "-conf")) {
++i; if (i >= argc) throw 0;
conf_fname = argv[i];
} else if (!strcmp(argv[i], "-diff")) {
++i; if (i >= argc) throw 0;
diff_fname = argv[i];
} else if (!strcmp(argv[i], "-zoom")) {
++i; if (i >= argc) throw 0;
zoom = (float) atof(argv[i]);
} else if (!strcmp(argv[i], "-maxwidth")) {
++i; if (i >= argc) throw 0;
maxwidth = (int) atoi(argv[i]);
} else if (!strcmp(argv[i], "-video")) {
video = true;
} else if (!strcmp(argv[i], "-print")) {
print = true;
} else if (!strcmp(argv[i], "-interleaved")) {
interleaved = true;
} else if (!strcmp(argv[i], "-save_individually")) {
save_individually = true;
} else if (!strcmp(argv[i], "-filename")) {
show_filename = true;
} else if (!strcmp(argv[i], "-range")) {
range.clear();
++i; if (i >= argc) throw 0;
string s = argv[i];
int k = 0;
while (s.size()) {
uint j;
for (j = 0; j < s.size(); ++j)
if (s[j] == ',')
break ;
string s0 = s.substr(0, j);
if (j >= s.size())
s = "";
else
s = s.substr(j + 1, s.size());
range.push_back(atof(s0.c_str()));
k++;
}
cout << "Fixing input range to " << range[0] << " .. "
<< range[1] << endl;
fixed_range = true;
}
// enqueue file names
else {
cout << argv[i] << endl;
argmats->push_back(argv[i]);
}
} catch (int err) {
cerr << "input error: ";
switch (err) {
case 0: cerr << "expecting string after " << argv[i-1]; break;
case 1: cerr << "expecting integer after " << argv[i-1]; break;
case 2: cerr << "unknown parameter " << argv[i-1]; break;
case 3: cerr << "unknown channel mode " << argv[i-1]; break;
default: cerr << "undefined error";
}
cerr << endl << endl;
return false;
}
}
// load configuration in conf mode
if (conf_fname.size() > 0) {
conf = new configuration(conf_fname);
if (!conf->exists("root2")) {
string dir = dirname(conf_fname.c_str());
cout << "Looking for trained files in: " << dir << endl;
conf->set("root2", dir.c_str());
conf->resolve();
}
// enable auto range by default in conf mode
if (!fixed_range)
autorange = true;
}
// diff mode, just print matrices differences
if (!diff_fname.empty()) {
i = argmats->begin();
idx<double> m1 = load_matrix<double>((*i).c_str());
idx<double> m2 = load_matrix<double>(diff_fname);
if (!m1.same_dim(m2.get_idxdim())) {
eblerror("cannot compare matrices of different dimensions " << m1
<< " and " << m2);
return -1;
}
idx_sub(m1, m2);
double sum = idx_sum(m1);
cout << "sum(m1 - m2) = " << sum << endl;
return 0;
}
// display first matrix/image
i = argmats->begin();
if (!video) {
if (!load_display(i, true, argmats)) {
ERROR_MSG("failed to load image(s)");
return -1;
}
}
// explore working directory for more images only if a
// single file was passed
if (argmats->size() == 1)
explore = true;
#ifdef __GUI__
#ifdef __BOOST__
// list all other mat files in image directory
string dir = argv[1];
string imgname, tmpname;
size_t pos = dir.find_last_of('/');
if (pos == string::npos) {
imgname = dir;
dir = "./";
} else { // it contains a directory
imgname = dir.substr(pos + 1, dir.size() - pos + 1);
dir = dir.substr(0, pos);
}
list<string> *mats = argmats;
if (explore)
mats = find_fullfiles(dir, IMAGE_PATTERN_MAT,
NULL, true, false);
// video mode
if (video) {
string out;
out << "video_" << tstamp();
mkdir_full(out);
uint j = 0;
for (i = mats->begin(); i != mats->end(); ++i, ++j) {
cout << "video mode: displaying " << *i << endl;
if (!load_display(i, true, mats)) {
ERROR_MSG("failed to load image(s)");
return -1;
}
millisleep(3000);
ostringstream fname;
fname << out << "/" << setfill('0') << setw(4) << j << "_"
<< ebl::basename(i->c_str()) << ".png";
save_window(fname.str().c_str());
cout << "video mode: saved " << fname.str() << endl;
}
} else { // interactive mode
if ((mats) && (mats->size() >= 1)) {
// find current position in this list
for (i = mats->begin(); i != mats->end(); ++i) {
tmpname = ebl::basename(i->c_str());
if (!imgname.compare(tmpname))
break ;
}
if (i == mats->end())
i = mats->begin();
// loop and wait for key pressed
while (1) {
millisleep(50);
int key = gui.pop_key_pressed();
// next/previous images only if not everuything is already displayed
if (mats->size() > nh * nw) {
if ((key == Qt::Key_Space) || (key == Qt::Key_Right)) {
// show next image
for (uint k = 0; k < nw * nh; ++k) {
i++;
if (i == mats->end()) {
i = mats->begin();
}
}
load_display(i, true, mats);
} else if ((key == Qt::Key_Backspace) || (key == Qt::Key_Left)) {
// show previous image
for (uint k = 0; k < nw * nh; ++k) {
if (i == mats->begin())
i = mats->end();
i--;
}
load_display(i, true, mats);
}
}
if (key == Qt::Key_I) {
// show info
show_info = !show_info;
if (show_info)
show_help = false;
load_display(i, false, mats);
} else if (key == Qt::Key_A) {
// enable autorange
autorange = !autorange;
if (autorange)
cout << "Enabling automatic input range." << endl;
else
cout << "Disabling automatic input range." << endl;
load_display(i, false, mats);
} else if (key == Qt::Key_H) {
// show help
show_help = !show_help;
if (show_help)
show_info = false;
load_display(i, false, mats);
} else if (key == Qt::Key_Y) {
// increase number of images shown on height axis
if (nh * nw < mats->size())
nh++;
load_display(i, false, mats);
} else if (key == Qt::Key_T) {
// decrease number of images shown on height axis
nh = (std::max)((uint) 1, nh - 1);
load_display(i, false, mats);
} else if (key == Qt::Key_X) {
// increase number of images shown on width axis
if (nh * nw < mats->size())
nw++;
load_display(i, false, mats);
} else if (key == Qt::Key_Z) {
// decrease number of images shown on width axis
nw = (std::max)((uint) 1, nw - 1);
load_display(i, false, mats);
} else if (key == Qt::Key_0) {
// show only channel 0
chans = 0;
load_display(i, false, mats);
cout << "Showing channel 0 only." << endl;
} else if (key == Qt::Key_1) {
// show only channel 1
chans = 1;
load_display(i, false, mats);
cout << "Showing channel 1 only." << endl;
} else if (key == Qt::Key_2) {
// show only channel 2
chans = 2;
load_display(i, false, mats);
cout << "Showing channel 2 only." << endl;
} else if (key == Qt::Key_9) {
// show all channels
chans = -1;
load_display(i, false, mats);
cout << "Showing alls channel." << endl;
}
}
}
}
// free objects
if (mats) delete mats;
#endif /* __BOOST__ */
#endif /* __GUI__ */
if (argmats) delete argmats;
if (conf) delete conf;
} catch(string &err) {
ERROR_MSG(err.c_str());
}
millisleep(500); // TODO: this lets time for window to open, fix this issue
return 0;
}
int main(int argc,char *argv[]) {
SDL_Event event;
SDL_Surface *screen;
SDL_Surface *bg,*left,*enter,*right,*exit,*display_surface;
SDL_Rect rect_left = {
.x = 51,
.y = 172,
.w = 27,
.h = 31,
};
SDL_Rect rect_enter = {
.x = 91,
.y = 173,
.w = 32,
.h = 31,
};
SDL_Rect rect_right = {
.x = 136,
.y = 172,
.w = 27,
.h = 31,
};
SDL_Rect rect_exit = {
.x = 91,
.y = 216,
.w = 31,
.h = 20,
};
SDL_Rect rect_display = {
.x = 57,
.y = 62,
.w = 100,
.h = 64,
};
int c;
char *name = NULL;
int force = 0;
while ((c = getopt(argc,argv,":hn:f"))!=-1) {
switch (c) {
case 'h':
usage(argv[0],0);
break;
case 'f':
force = 1;
break;
case 'n':
name = optarg;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
// init NXT
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
if (nxt_get_connection_type(nxt)==NXT_CON_BT && !force) {
fprintf(stderr,"Warning! Using NXT Pilot over Bluetooth can make trouble. Are you sure to continue (y/n)[n]: ");
if (fgetc(stdin)!='y') {
nxt_close(nxt);
return 0;
}
}
nxt_display_t *display = nxt_display_open(nxt);
if (display==NULL) {
fprintf(stderr,"Could not open display\n");
nxt_close(nxt);
return 1;
}
// init window
if (SDL_Init(SDL_INIT_VIDEO)==-1) {
fprintf(stderr,"Can't init SDL: %s\n",SDL_GetError());
return 1;
}
atexit(SDL_Quit);
screen = SDL_SetVideoMode(215,322,32,SDL_HWSURFACE);
if (screen==NULL) {
fprintf(stderr,"Can't open window: %s\n",SDL_GetError());
return 1;
}
SDL_WM_SetCaption("NXT Pilot","NXT Pilot");
// load images
bg = IMG_ReadXPMFromArray(pilot_bg_xpm);
left = IMG_ReadXPMFromArray(pilot_left_xpm);
enter = IMG_ReadXPMFromArray(pilot_enter_xpm);
right = IMG_ReadXPMFromArray(pilot_right_xpm);
exit = IMG_ReadXPMFromArray(pilot_exit_xpm);
// display NXT
SDL_BlitSurface(bg,NULL,screen,NULL);
SDL_BlitSurface(left,NULL,screen,&rect_left);
SDL_BlitSurface(enter,NULL,screen,&rect_enter);
SDL_BlitSurface(right,NULL,screen,&rect_right);
SDL_BlitSurface(exit,NULL,screen,&rect_exit);
int done = 0;
unsigned int pause = nxt_get_connection_type(nxt)==NXT_CON_BT?500:100;
while (!done) {
while (SDL_PollEvent(&event)) {
switch(event.type) {
case SDL_QUIT:
done = 1;
break;
case SDL_KEYUP:
if (event.key.keysym.sym==SDLK_ESCAPE) done = 1;
else if (event.key.keysym.sym==SDLK_RETURN) nxt_set_button(nxt,NXT_UI_BUTTON_ENTER);
else if (event.key.keysym.sym==SDLK_BACKSPACE) nxt_set_button(nxt,NXT_UI_BUTTON_EXIT);
else if (event.key.keysym.sym==SDLK_LEFT) nxt_set_button(nxt,NXT_UI_BUTTON_LEFT);
else if (event.key.keysym.sym==SDLK_RIGHT) nxt_set_button(nxt,NXT_UI_BUTTON_RIGHT);
break;
case SDL_MOUSEBUTTONUP:
if (in_rect(rect_left,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_LEFT);
else if (in_rect(rect_enter,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_ENTER);
else if (in_rect(rect_right,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_RIGHT);
else if (in_rect(rect_exit,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_EXIT);
break;
}
}
display_surface = load_display(display);
if (display!=NULL) {
SDL_BlitSurface(display_surface,NULL,screen,&rect_display);
SDL_UpdateRect(screen,0,0,0,0);
SDL_FreeSurface(display_surface);
}
SDL_Delay(pause);
}
// free images
SDL_FreeSurface(bg);
SDL_FreeSurface(left);
SDL_FreeSurface(enter);
SDL_FreeSurface(right);
SDL_FreeSurface(exit);
// close nxt
int ret = nxt_error(nxt);
nxt_display_flush(display,1);
nxt_display_close(display);
nxt_close(nxt);
return ret;
}