static int write_segmenttemplate_bynumber(MPD_CREATE_CTXT_T *pCtxt,
const MPD_ADAPTATION_T *pAdaptation,
const MPD_SEGMENT_LIST_T *pSegs,
const char *initMediaUrl,
unsigned int startNumber,
char *buf, unsigned int szbuf) {
int rc = 0;
unsigned int idx = 0;
char mediaUrl[VSX_MAX_PATH_LEN];
if((rc = writepath(pCtxt, -1, "$Number$", mediaUrl, sizeof(mediaUrl), pAdaptation->padaptationTag)) < 0) {
return rc;
}
if((rc = write_tag_segmenttemplate_start(pAdaptation->pMedia, mediaUrl, initMediaUrl,
startNumber, &buf[idx], szbuf - idx)) < 0) {
return rc;
}
idx += rc;
MPD_WRITE_RET("<SegmentTimeline>"MPD_EOL);
if((rc = write_tag_segmententry(pAdaptation->pMedia->timescale,
pAdaptation->pMedia->duration,
pAdaptation->pMedia->durationPreceeding,
&buf[idx], szbuf - idx)) < 0) {
return rc;
}
idx += rc;
MPD_WRITE("</SegmentTimeline>"MPD_EOL);
MPD_WRITE_RET("</SegmentTemplate>"MPD_EOL);
return idx > 0 ? idx : rc;
}
static int write_init_path(const MPD_CREATE_CTXT_T *pCtxt,
int outidx,
char *buf,
unsigned int szbuf,
const char *adaptationtag) {
return writepath(pCtxt, outidx, "init", buf, szbuf, adaptationtag);
}
static int write_segmenttemplate_bytime(MPD_CREATE_CTXT_T *pCtxt,
const MPD_ADAPTATION_T *pAdaptation,
const MPD_SEGMENT_LIST_T *pSegs,
const char *initMediaUrl,
char *buf, unsigned int szbuf) {
int rc = 0;
unsigned int idx = 0;
unsigned int indexInSegments;
unsigned int indexSegment = 0;
char mediaUrl[VSX_MAX_PATH_LEN];
if((rc = writepath(pCtxt, -1, "$Time$", mediaUrl, sizeof(mediaUrl), pAdaptation->padaptationTag)) < 0) {
return rc;
}
if((rc = write_tag_segmenttemplate_start(pAdaptation->pMedia, mediaUrl,
initMediaUrl, -1, &buf[idx], szbuf - idx)) < 0) {
return rc;
}
idx += rc;
if(pSegs->indexInSegments > 0) {
indexInSegments = pSegs->indexInSegments - 1;
} else {
indexInSegments = pSegs->indexCount - 1;
}
MPD_WRITE_RET("<SegmentTimeline>"MPD_EOL);
for(indexSegment = 0; indexSegment < pSegs->indexCount; indexSegment++) {
if(++indexInSegments >= pSegs->indexCount) {
indexInSegments = 0;
}
if(!pSegs->pSegments[indexInSegments].valid) {
continue;
}
if((rc = write_tag_segmententry(pSegs->pSegments[indexInSegments].media.timescale,
pSegs->pSegments[indexInSegments].media.duration,
pSegs->pSegments[indexInSegments].media.durationPreceeding,
&buf[idx], szbuf - idx)) < 0) {
return rc;
}
idx += rc;
} // end of for(indexSegment...
MPD_WRITE_RET("</SegmentTimeline>"MPD_EOL);
MPD_WRITE_RET("</SegmentTemplate>"MPD_EOL);
return idx > 0 ? idx : rc;
}
int main (int argc, char **argv)
{
char* ntry = (char*)"";
if (argc > 1) {
ntry = argv[1];
}
double fps = FPS;
double target_dur = 1.0/fps;
double tol = 1.0e-3;
double total_dur = 0.0;
dc1394_t * d = dc1394_new();
if (!d) {
return 1;
}
dc1394camera_list_t * list;
dc1394error_t err = dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) { /* Verify that we have at least one camera */
dc1394_log_error("No cameras found");
return 1;
}
gCamera.init(d, list->ids[0].guid);
if (!gCamera.cam()) {
dc1394_log_error("Failed to initialize camera with guid %ld", list->ids[0].guid);
dc1394_camera_free_list (list);
return 1;
}
dc1394_camera_free_list (list);
/*-----------------------------------------------------------------------
* have the camera start sending us data
*-----------------------------------------------------------------------*/
err = gCamera.start_transmission();
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Could not start camera iso transmission");
/*-----------------------------------------------------------------------
* capture one frame
*-----------------------------------------------------------------------*/
uint32_t width = 0;
uint32_t height = 0;
gCamera.get_image_size(&width, &height);
cv::Mat mapping = cv::getRotationMatrix2D(cv::Point2f(width/2.0, height/2.0), 180.0, 1.0);
#ifdef USE_SDL
static char *var = (char*)"SDL_VIDEO_WINDOW_POS=\"1280,480\"";
int ret = putenv(var);
if (SDL_Init(SDL_INIT_VIDEO) != 0) {
std::cerr << "DC1394: Unable to initialize SDL: " << SDL_GetError() << std::endl;
return 1;
}
atexit(SDL_Quit);
SDL_Surface *screen;
screen = SDL_SetVideoMode(width, height, 24, SDL_HWSURFACE);
if (screen == NULL) {
std::cerr << "DC1394: Unable to set SDL video mode:" << SDL_GetError() << std::endl;
}
SDL_Event event;
#endif
#ifndef LICKOMETER
pthread_t save_thread, acq_thread;
pthread_create( &save_thread, NULL, &thread_save_image, NULL);
#endif
pthread_t save_thread, acq_thread;
pthread_create( &acq_thread, NULL, &thread_acq_image, NULL);
timespec t_sleep, t_rem;
t_sleep.tv_sec = 0;
t_sleep.tv_nsec = 1000;
#ifndef STANDALONE
int s;
if ((s = socket(SOCKTYPE, SOCK_STREAM, 0)) < 0) {
perror("DC1394: client: socket");
cleanup_and_exit(gCamera);
return 1;
}
/*
* Create the address we will be connecting to.
*/
#ifndef INET
sockaddr_un sa;
sa.sun_family = AF_UNIX;
std::ostringstream tmpfn;
tmpfn << "fwsocket" << ntry;
std::cout << "DC1394: socket name " << tmpfn.str() << std::endl;
int nameLen = strlen(tmpfn.str().c_str());
if (nameLen >= (int) sizeof(sa.sun_path) -1) { /* too long? */
cleanup_and_exit(gCamera);
return 1;
}
sa.sun_path[0] = '\0'; /* abstract namespace */
strcpy(sa.sun_path+1, tmpfn.str().c_str());
int len = 1 + nameLen + offsetof(struct sockaddr_un, sun_path);
#else
sockaddr_in sa;
bzero((char *) &sa, sizeof(sa));
sa.sin_family = AF_INET;
hostent *server = gethostbyname("128.40.156.129");
bcopy((char *)server->h_addr,
(char *)&sa.sin_addr.s_addr,
server->h_length);
sa.sin_port = htons(35000);
int len = sizeof(sa);
#endif
/*
* Try to connect to the address. For this to
* succeed, the server must already have bound
* this address, and must have issued a listen()
* request.
*
* The third argument indicates the "length" of
* the structure, not just the length of the
* socket name.
*/
std::cout << "DC1394: Waiting for connection... " << std::flush;
while (true) {
// wait for connection:
if (connect(s, (sockaddr*)&sa, len) < 0) {
nanosleep(&t_sleep, &t_rem);
} else {
break;
}
}
std::cout << "done" << std::endl;
bool connected = false;
std::vector<char> data(BUFSIZE);
int nrec = recv(s, &data[0], data.size(), 0);
std::string datastr(data.begin(), data.end());
if (nrec<=0) {
std::cerr << "DC1394: Didn't receive start message; exiting now" << std::endl;
cleanup_and_exit(gCamera);
close(s);
return 1;
}
connected = true;
std::string ready = "ready";
while (send(s, ready.c_str(), ready.size(), 0) < 0) {
perror("DC1394: client: send");
}
int flags = 0;
if (-1 == (flags = fcntl(s, F_GETFL, 0)))
flags = 0;
if (fcntl(s, F_SETFL, flags | O_NONBLOCK)==-1) {
perror("DC1394: client: unblock");
}
#endif
/* pthread_mutex_lock( &camera_mutex );
gCamera.wait_for_trigger();
pthread_mutex_unlock( &camera_mutex );
Wait for acq_frame_buffer to fill instead
*/
int ncount = 0;
cv::Mat im(cv::Size(width, height), CV_8UC1);
cv::Mat thresh = cv::Mat::ones(cv::Size(width, height), CV_8UC1);
cv::Mat prevs(cv::Size(width, height), CV_8UC1);
cv::Mat gray(cv::Size(width, height), CV_8UC1);
// wait for image:
int nframes = get_image(im, mapping, false, -1, "", ncount);
std::cout << "DC1394: Waiting for first image to arrive... " << std::flush;
int nwait = 0;
while (!nframes) {
nanosleep(&t_sleep, &t_rem);
std::cout << "." << std::flush;
nframes = get_image(im, mapping, false, -1, "", ncount);
nwait++;
#ifdef STANDALONE
if (nwait > 1000) {
#else
if (nwait > 100000) {
#endif
std::cout << "Time out, stopping now\n";
cleanup_and_exit(gCamera);
}
}
timespec time0;
clock_gettime(CLOCK_REALTIME, &time0);
std::cout << "DC1394: image arrived: "
<< IplImage(im).depth << " bits, "
<< IplImage(im).nChannels << " channels, "
<< IplImage(im).widthStep << " step width" << std::endl;
#ifdef USE_SDL
SDL_Surface *surface =
SDL_CreateRGBSurfaceFrom((void*)im.data,
im.cols,
im.rows,
IplImage(im).depth*IplImage(im).nChannels,
IplImage(im).widthStep,
0xffffff, 0xffffff, 0xffffff, 0);
screen = SDL_GetVideoSurface();
if(SDL_BlitSurface(surface, NULL, screen, NULL) == 0)
SDL_UpdateRect(screen, 0, 0, 0, 0);
#else
cv::namedWindow("DC1394", CV_WINDOW_AUTOSIZE);
cvMoveWindow("DC1394", 1280, 480);
cv::imshow("DC1394", im);
#endif
timespec time1 = time0;
timespec time2 = time0;
timespec time3 = time0;
timespec time4 = time0;
timespec t_disconnect = time0;
timespec t_notrigger = time0;
#ifdef STANDALONE
int s = -1;
#endif
std::string fn = "";
#ifdef LICKOMETER
std::string fn_lick = "";
FILE* fp_lick = NULL;
#endif
int key = 0;
int nloop = 0;
while (true) {
clock_gettime( CLOCK_REALTIME, &time1);
#ifndef STANDALONE
std::vector<char> data(BUFSIZE);
int nrec = recv(s, &data[0], data.size(), 0);
std::string datastr(data.begin(), data.end());
#endif
nframes += get_image(im, mapping, false, s, fn, ncount);
#ifndef STANDALONE
// no update from blender in a long time, terminate process
if (datastr.find("1")==std::string::npos) {
if (connected) {
t_disconnect = time1;
connected = false;
} else {
if (tdiff(time1, t_disconnect) > TIMEOUT) {
std::cout << "DC1394: Received termination signal" << std::endl;
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
}
} else {
connected = true;
}
/* Explicit termination */
if (datastr.find("quit")!=std::string::npos) {
std::cout << "DC1394: Game over signal." << std::endl;
std::string sclose = "close";
while (send(s, sclose.c_str(), sclose.size(), 0) < 0) {
perror("DC1394: client: send");
}
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
// Stop recording
if (datastr.find("stop") != std::string::npos && fn != "") {
fn = "";
#ifdef LICKOMETER
fn_lick = "";
if (fp_lick) {
fclose(fp_lick);
fp_lick = NULL;
}
#endif
std::cout << "DC1394: Stopping video" << std::endl;
connected = true;
ncount = 0;
}
// Start recording
if (datastr.find("avi") != std::string::npos && datastr.find("stop") == std::string::npos && fn == "") {
std::size_t startpos = datastr.find("begin")+5;
std::size_t endpos = datastr.find("end") - datastr.find("begin") - 5;
fn = datastr.substr(startpos, endpos);
fn = std::string(trunk) + "data/" + fn;
#ifdef LICKOMETER
fn_lick = fn + "_lick";
fp_lick = fopen(fn_lick.c_str(), "wb");
std::cout << "DC1394: Recording lick detection, writing to " << fn_lick << std::endl;
#else
boost::filesystem::path path(fn);
boost::filesystem::path writepath(path);
// Test whether dir exists:
if (!boost::filesystem::exists(writepath)) {
std::cout << "DC1394: Creating directory " << writepath << std::endl;
boost::filesystem::create_directories(writepath);
}
fn += "/";
/* check save frame buffer */
std::size_t nfb = save_frame_buffer.size();
if (nfb)
std::cerr << "DC1394: Frame buffer isn't empty!" << std::endl;
std::cout << "DC1394: Starting video, writing to " << fn << std::endl;
connected = true;
ncount = 0;
#endif
}
#endif // #nstandalone
#ifdef USE_SDL
if (SDL_PollEvent(&event)) {
#ifdef STANDALONE
/* Any of these event types will end the program */
if (event.type == SDL_QUIT
|| event.type == SDL_KEYDOWN
|| event.type == SDL_KEYUP) {
std::cout << std::endl;
std::cout << std::endl << "DC1394: Total number of frames was " << nframes << std::endl;
std::cout << std::endl << "DC1394: Frame buffer: " << acq_frame_buffer.size() << " frames left" << std::endl;
close(s);
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
#endif // STANDALONE
}
surface->pixels = (void*)im.data;
// SDL_CreateRGBSurfaceFrom((void*)IplImage(im).imageData,
// IplImage(im).width,
// IplImage(im).height,
// IplImage(im).depth*IplImage(im).nChannels,
// IplImage(im).widthStep,
// 1, 1, 1, 0);
screen = SDL_GetVideoSurface();
if(SDL_BlitSurface(surface, NULL, screen, NULL) == 0)
SDL_UpdateRect(screen, 0, 0, 0, 0);
#else // not SDL
key = cv::waitKey(2);
cv::imshow("DC1394", im);
if (key == 1114155 || key == 65579 || key==43 /*+*/) {
uint32_t gain = 0;
err = dc1394_feature_get_value(gCamera.cam(), DC1394_FEATURE_GAIN, &gain);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't get gain");
if (gain < gCamera.get_maxgain()-10) {
gain += 10;
pthread_mutex_lock( &camera_mutex );
err = dc1394_feature_set_value(gCamera.cam(), DC1394_FEATURE_GAIN, gain);
pthread_mutex_unlock( &camera_mutex );
std::cout << "DC1394: New gain value: " << gain << std::endl;
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't set gain");
}
}
if (key == 1114207 || key == 45 /*-*/) {
uint32_t gain = 0;
err = dc1394_feature_get_value(gCamera.cam(), DC1394_FEATURE_GAIN, &gain);
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't get gain");
if (gain > gCamera.get_mingain()+10) {
gain -= 10;
pthread_mutex_lock( &camera_mutex );
err = dc1394_feature_set_value(gCamera.cam(), DC1394_FEATURE_GAIN, gain);
pthread_mutex_unlock( &camera_mutex );
DC1394_ERR_CLN_RTN(err,cleanup_and_exit(gCamera),"Can't set gain");
}
}
#endif // not SDL
#ifdef LICKOMETER
/* IS THIS ALL YOU NEED THEN?
Lick detection */
/* Not required because the captured image is already gray
cv::Mat gray = bgr2gray(im); */
gray = thresholding(im, LICK_FRAME_THRESHOLD);
if (nloop != 0) {
cv::absdiff(prevs, gray, thresh);
double pixel_sum_thresh = cv::sum(thresh)[0];
double pixel_sum_gray = cv::sum(gray)[0];
if (pixel_sum_thresh > LICK_SUM_THRESHOLD) {
std::cout << "DC1394: Lick" << std::endl;
}
if (fp_lick != NULL) {
fwrite(&pixel_sum_thresh, sizeof(pixel_sum_thresh), 1, fp_lick);
fwrite(&pixel_sum_gray, sizeof(pixel_sum_gray), 1, fp_lick);
}
}
prevs = gray.clone();
nloop++;
#endif
#ifdef STANDALONE
if (key == 1048689 || key == 113 /*q*/) {
std::cout << "DC1394: Mean frame rate was " << nframes/total_dur << " fps" << std::endl;
pthread_cancel(acq_thread);
pthread_cancel(save_thread);
return 0;
}
if (key == 1048691 /*s*/) {
fn = "";
std::cout << "DC1394: Stopping video" << std::endl;
ncount = 0;
}
if (key == 1048690 /*r*/) {
fn = trunk + std::string("tmp/");
std::cout << "DC1394: Starting video, writing to " << fn << std::endl;
ncount = 0;
}
#endif // #standalone
clock_gettime( CLOCK_REALTIME, &time2);
double loop_dur = tdiff(time2, time3);
clock_gettime( CLOCK_REALTIME, &time3);
double meanfps = 0;
total_dur = tdiff(time3, time0);
if (total_dur > 0)
meanfps = nframes / total_dur;
double currentfps = ret / loop_dur;
std::cout << "DC1394: Current fps: " << std::setprecision(7) << currentfps
<< " Average fps: " << std::setprecision(7) << meanfps << "\r" << std::flush;
#ifdef STANDALONE
// std::cout << capture_dur << "\t" << target_dur << "\t" << rem << "\t" << loop_dur << std::endl;
#endif
}
if (d) {
dc1394_free(d);
}
#ifndef STANDALONE
close(s);
#endif
return 0;
}
int main(int argc, const char *argv[])
{
// Validate input parameters
if (argc < 15) {
std::cerr << "Missing parameters! Usage:" << std::endl;
std::cerr << argv[0];
std::cerr << " <Read/WriteDir> <InputImg> <OutputImg> ";
std::cerr << "[seedX] [seedY] [seedZ] [initDist] ";
std::cerr << "[sigma] [sigmoid K1] [sigmoid K2] ";
std::cerr << "[propagation] [curvature] [advection] [iterations]";
std::cerr << std::endl;
return EXIT_FAILURE;
}
const unsigned int Dimension = 3;
typedef float InputPixelType;
typedef unsigned char OutputPixelType;
typedef itk::Image< InputPixelType, Dimension > InputImageType;
typedef itk::Image< OutputPixelType, Dimension > OutputImageType;
////////////////////////////////////////////////
// 1) Read the input image
typedef itk::ImageFileReader< InputImageType > ReaderType;
ReaderType::Pointer reader = ReaderType::New();
std::string readpath( argv[1] );
readpath.append( argv[2] );
reader->SetFileName( readpath );
reader->Update();
////////////////////////////////////////////////
// 2) Curvature anisotropic diffusion
typedef itk::CurvatureAnisotropicDiffusionImageFilter<
InputImageType, InputImageType > SmoothingFilterType;
SmoothingFilterType::Pointer smoothing = SmoothingFilterType::New();
smoothing->SetTimeStep(0.04);
smoothing->SetNumberOfIterations(5);
smoothing->SetConductanceParameter(9.0);
smoothing->SetInput( reader->GetOutput() );
////////////////////////////////////////////////
// 3) Gradient magnitude recursive Gaussian
const double sigma = atof(argv[8]);
typedef itk::GradientMagnitudeRecursiveGaussianImageFilter<
InputImageType, InputImageType > GradientFilterType;
GradientFilterType::Pointer gradientMagnitude = GradientFilterType::New();
gradientMagnitude->SetSigma( sigma );
gradientMagnitude->SetInput( smoothing->GetOutput() );
////////////////////////////////////////////////
// 4) Sigmoid mapping
const double K1 = atof(argv[9]);
const double K2 = atof(argv[10]);
typedef itk::SigmoidImageFilter< InputImageType, InputImageType >
SigmoidFilterType;
SigmoidFilterType::Pointer sigmoid = SigmoidFilterType::New();
sigmoid->SetOutputMinimum(0.0);
sigmoid->SetOutputMaximum(1.0);
sigmoid->SetAlpha( (K2 - K1)/6 );
sigmoid->SetBeta( (K1 + K2)/2 );
sigmoid->SetInput( gradientMagnitude->GetOutput() );
////////////////////////////////////////////////
// 5) Segmentation with geodesic active contour
typedef itk::FastMarchingImageFilter< InputImageType, InputImageType >
FastMarchingFilterType;
FastMarchingFilterType::Pointer fastMarching = FastMarchingFilterType::New();
typedef itk::GeodesicActiveContourLevelSetImageFilter<
InputImageType, InputImageType > GeodesicActiveContourFilterType;
GeodesicActiveContourFilterType::Pointer geodesicActiveContour =
GeodesicActiveContourFilterType::New();
const double propagation = atof( argv[11] );
const double curvature = atof( argv[12] );
const double advection = atof( argv[13] );
const double iterations = atoi( argv[14] );
geodesicActiveContour->SetPropagationScaling( propagation );
geodesicActiveContour->SetCurvatureScaling( curvature );
geodesicActiveContour->SetAdvectionScaling( advection );
geodesicActiveContour->SetMaximumRMSError(0.01);
geodesicActiveContour->SetNumberOfIterations( iterations );
geodesicActiveContour->SetInput( fastMarching->GetOutput() );
geodesicActiveContour->SetFeatureImage( sigmoid->GetOutput() );
////////////////////////////////////////////////
// 6) Binary thresholding
typedef itk::BinaryThresholdImageFilter< InputImageType, OutputImageType >
ThresholdingFilterType;
ThresholdingFilterType::Pointer thresholder = ThresholdingFilterType::New();
thresholder->SetLowerThreshold(-1000.0);
thresholder->SetUpperThreshold(0.0);
thresholder->SetOutsideValue(0);
thresholder->SetInsideValue(255);
thresholder->SetInput( geodesicActiveContour->GetOutput() );
////////////////////////////////////////////////
// 7) Finish setting up fast marching
typedef FastMarchingFilterType::NodeContainer NodeContainer;
typedef FastMarchingFilterType::NodeType NodeType;
NodeContainer::Pointer seeds = NodeContainer::New();
InputImageType::IndexType seedPosition;
seedPosition[0] = atoi( argv[4] );
seedPosition[1] = atoi( argv[5] );
seedPosition[2] = atoi( argv[6] );
const double initialDistance = atof( argv[7] );
const double seedValue = -initialDistance;
NodeType node;
node.SetValue( seedValue );
node.SetIndex( seedPosition );
seeds->Initialize();
seeds->InsertElement(0, node);
fastMarching->SetTrialPoints( seeds );
fastMarching->SetSpeedConstant(1.0);
fastMarching->SetOutputSize( reader->GetOutput()->GetBufferedRegion().GetSize() );
fastMarching->SetOutputRegion( reader->GetOutput()->GetBufferedRegion() );
fastMarching->SetOutputSpacing( reader->GetOutput()->GetSpacing() );
fastMarching->SetOutputOrigin( reader->GetOutput()->GetOrigin() );
////////////////////////////////////////////////
// 7) Write output image
typedef itk::ImageFileWriter< OutputImageType > WriterType;
WriterType::Pointer writer = WriterType::New();
std::string writepath( argv[1] );
writepath.append( argv[3] );
writer->SetFileName( writepath );
writer->SetInput( thresholder->GetOutput() );
try {
writer->Update();
}
catch( itk::ExceptionObject &excep ) {
std::cerr << "Exception caught!" << std::endl;
std::cerr << excep << std::endl;
return EXIT_FAILURE;
}
// The following writer is used to save the output of the sigmoid mapping
typedef itk::ImageFileWriter< InputImageType > InternalWriterType;
InternalWriterType::Pointer speedWriter = InternalWriterType::New();
speedWriter->SetInput( sigmoid->GetOutput() );
std::string sigmoidpath( argv[1] );
speedWriter->SetFileName( sigmoidpath.append("SigmoidForGeodesic.mha"));
speedWriter->Update();
return 0;
}
