void EnhancedSGM::computeCurveCost(const Mat8u & img1, const Mat8u & img2)
{
if (_params.verbosity > 0) cout << "EnhancedSGM::computeCurveCost" << endl;
// compute the weights for matching cost
if (_params.salientPoints) _salientBuffer.setTo(0);
for (int y = 0; y < _params.yMax; y++)
{
for (int x = 0; x < _params.xMax; x++)
{
int idx = getLinearIndex(x, y);
if (_params.verbosity > 4)
{
cout << " x: " << x << " y: " << y << " idx: " << idx;
cout << " mask: " << _maskVec[idx] << endl;
}
if (not _maskVec[idx])
{
uint8_t * outPtr = _errorBuffer.row(y).data + x*_params.dispMax;
*outPtr = 0;
fill(outPtr + 1, outPtr + _params.dispMax, 255);
continue;
}
// compute the local image descriptor,
// a piece of the epipolar curve on the first image
vector<uint8_t> descriptor;
CurveRasterizer<int, Polynomial2> descRaster = getCurveRasteriser1(idx);
const int step = _epipolarDescriptor.compute(img1, descRaster, descriptor);
_stepBuffer(y, x) = step;
if (step < 1)
{
//TODO make a function
uint8_t * outPtr = _errorBuffer.row(y).data + x*_params.dispMax;
*outPtr = 0;
fill(outPtr + 1, outPtr + _params.dispMax, 255);
continue;
}
if (_params.imageBasedCost)
{
switch (step)
{
case 1:
_costBuffer(y, x) = _params.lambdaJump;
break;
case 2:
_costBuffer(y, x) = _params.lambdaJump * 3;
break;
default:
_costBuffer(y, x) = _params.lambdaJump * 6;
break;
}
}
//TODO revise the criterion (step == 1)
if (_params.salientPoints and step <= 2)
{
_salientBuffer(y, x) = 1;
}
const int nSteps = ( _params.dispMax + step - 1 ) / step;
//sample the curve
vector<uint8_t> sampleVec(nSteps + MARGIN, 0);
if (_params.useUVCache)
{
const int u_vCacheStep = _params.dispMax + 2 * DISPARITY_MARGIN;
int32_t * uPtr = (int32_t *)_uCache.row(y).data + x*u_vCacheStep;
int32_t * vPtr = (int32_t *)_vCache.row(y).data + x*u_vCacheStep;
uPtr += DISPARITY_MARGIN - HALF_LENGTH * step;
vPtr += DISPARITY_MARGIN - HALF_LENGTH * step;
for (int i = 0; i < nSteps + MARGIN; i++, uPtr += step, vPtr += step)
{
if (*uPtr < 0 or *vPtr < 0) sampleVec[i] = 0;
else sampleVec[i] = img2(*vPtr, *uPtr);
}
}
else
{
CurveRasterizer<int, Polynomial2> raster = getCurveRasteriser2(idx);
raster.setStep(step);
raster.steps(-HALF_LENGTH);
for (int i = 0; i < nSteps + MARGIN; i++, raster.step())
{
if (raster.v < 0 or raster.v >= img2.rows
or raster.u < 0 or raster.u >= img2.cols) sampleVec[i] = 0;
else sampleVec[i] = img2(raster.v, raster.u);
}
}
vector<int> costVec = compareDescriptor(descriptor, sampleVec, _params.flawCost);
if (y == 350 and x > 469 and x < 481)
{
cout << "Point : " << x << " " << y << endl;
cout << "Step : " << step << endl;
cout << "samples :" << endl;
for (auto & x : sampleVec)
{
cout << setw(6) << int(x);
}
cout << endl;
cout << "cost :" << endl;
for (auto & x : costVec)
{
cout << setw(6) << int(x);
}
cout << endl;
cout << "descriptor :" << endl;
for (auto & x : descriptor)
{
cout << setw(6) << int(x);
}
cout << endl;
}
// //compute the bias;
// int sum1 = filter(kernelVec.begin(), kernelVec.end(), descriptor.begin(), 0);
// fill up the cost buffer
uint8_t * outPtr = _errorBuffer.row(y).data + x*_params.dispMax;
auto costIter = costVec.begin() + HALF_LENGTH;
for (int d = 0; d < nSteps; d++, outPtr += step)
{
// int sum2 = filter(kernelVec.begin(), kernelVec.end(), sampleVec.begin() + d, 0);
// int bias = min(_params.maxBias, max(-_params.maxBias, (sum2 - sum1) / LENGTH));
// int acc = biasedAbsDiff(kernelVec.begin(), kernelVec.end(),
// descriptor.begin(), sampleVec.begin() + d, bias);
// *outPtr = acc / NORMALIZER;
*outPtr = *costIter / _params.descLength;
++costIter;
}
if (step > 1) fillGaps(_errorBuffer.row(y).data + x*_params.dispMax, step);
}
}
}
int main(int argc, char **argv) {
GWEN_DB_NODE *db;
const char *cmd;
int rv;
AB_BANKING *ab;
GWEN_GUI *gui;
int nonInteractive=0;
int acceptValidCerts=0;
const char *pinFile;
const char *cfgDir;
const char *s;
const GWEN_ARGS args[]={
{
GWEN_ARGS_FLAGS_HAS_ARGUMENT, /* flags */
GWEN_ArgsType_Char, /* type */
"cfgdir", /* name */
0, /* minnum */
1, /* maxnum */
"D", /* short option */
"cfgdir", /* long option */
I18S("Specify the configuration folder"),
I18S("Specify the configuration folder")
},
{
0, /* flags */
GWEN_ArgsType_Int, /* type */
"nonInteractive", /* name */
0, /* minnum */
1, /* maxnum */
"n", /* short option */
"noninteractive", /* long option */
"Select non-interactive mode",/* short description */
"Select non-interactive mode.\n" /* long description */
"This automatically returns a confirmative answer to any non-critical\n"
"message."
},
{
0, /* flags */
GWEN_ArgsType_Int, /* type */
"acceptValidCerts", /* name */
0, /* minnum */
1, /* maxnum */
"A", /* short option */
"acceptvalidcerts", /* long option */
"Automatically accept all valid TLS certificate",
"Automatically accept all valid TLS certificate"
},
{
GWEN_ARGS_FLAGS_HAS_ARGUMENT, /* flags */
GWEN_ArgsType_Char, /* type */
"charset", /* name */
0, /* minnum */
1, /* maxnum */
0, /* short option */
"charset", /* long option */
"Specify the output character set", /* short description */
"Specify the output character set" /* long description */
},
{
GWEN_ARGS_FLAGS_HAS_ARGUMENT, /* flags */
GWEN_ArgsType_Char, /* type */
"pinfile", /* name */
0, /* minnum */
1, /* maxnum */
"P", /* short option */
"pinfile", /* long option */
"Specify the PIN file", /* short description */
"Specify the PIN file" /* long description */
},
{
GWEN_ARGS_FLAGS_HELP | GWEN_ARGS_FLAGS_LAST, /* flags */
GWEN_ArgsType_Int, /* type */
"help", /* name */
0, /* minnum */
0, /* maxnum */
"h", /* short option */
"help",
I18S("Show this help screen. For help on commands, "
"run aqbanking-cli <COMMAND> --help."),
I18S("Show this help screen. For help on commands, run aqbanking-cli <COMMAND> --help.")
}
};
rv=GWEN_Init();
if (rv) {
fprintf(stderr, "ERROR: Unable to init Gwen.\n");
exit(2);
}
GWEN_Logger_Open(0, "aqbanking-cli", 0,
GWEN_LoggerType_Console,
GWEN_LoggerFacility_User);
GWEN_Logger_SetLevel(0, GWEN_LoggerLevel_Warning);
rv=GWEN_I18N_BindTextDomain_Dir(PACKAGE, LOCALEDIR);
if (rv) {
DBG_ERROR(0, "Could not bind textdomain (%d)", rv);
}
else {
rv=GWEN_I18N_BindTextDomain_Codeset(PACKAGE, "UTF-8");
if (rv) {
DBG_ERROR(0, "Could not set codeset (%d)", rv);
}
}
db=GWEN_DB_Group_new("arguments");
rv=GWEN_Args_Check(argc, argv, 1,
GWEN_ARGS_MODE_ALLOW_FREEPARAM |
GWEN_ARGS_MODE_STOP_AT_FREEPARAM,
args,
db);
if (rv==GWEN_ARGS_RESULT_ERROR) {
fprintf(stderr, "ERROR: Could not parse arguments main\n");
GWEN_DB_Group_free(db);
return 1;
}
else if (rv==GWEN_ARGS_RESULT_HELP) {
GWEN_BUFFER *ubuf;
ubuf=GWEN_Buffer_new(0, 1024, 0, 1);
GWEN_Buffer_AppendString(ubuf, I18N("This is version "));
GWEN_Buffer_AppendString(ubuf, AQHBCI_VERSION_STRING "\n");
GWEN_Buffer_AppendString(ubuf,
I18N("Usage: "));
GWEN_Buffer_AppendString(ubuf, argv[0]);
GWEN_Buffer_AppendString(ubuf,
I18N(" [GLOBAL OPTIONS] COMMAND "
"[LOCAL OPTIONS]\n"));
GWEN_Buffer_AppendString(ubuf,
I18N("\nGlobal Options:\n"));
if (GWEN_Args_Usage(args, ubuf, GWEN_ArgsOutType_Txt)) {
fprintf(stderr, "ERROR: Could not create help string\n");
GWEN_DB_Group_free(db);
return 1;
}
GWEN_Buffer_AppendString(ubuf,
I18N("\nCommands:\n"));
cmdAddHelpStr(ubuf, "senddtazv",
I18N("Sends a DTAZV file to the bank"));
cmdAddHelpStr(ubuf, "listaccs",
I18N("Prints the list of accounts"));
cmdAddHelpStr(ubuf, "listbal",
I18N("Export balances from a context file."));
cmdAddHelpStr(ubuf, "listtrans",
I18N("Export transactions from a context file."));
cmdAddHelpStr(ubuf, "listtransfers",
I18N("Export transactions from a context file which match certain status."));
cmdAddHelpStr(ubuf, "request",
I18N("Requests transactions, balances, standing orders etc."));
cmdAddHelpStr(ubuf, "chkacc",
I18N("Check a combination of bank id and account number"));
cmdAddHelpStr(ubuf, "chkiban",
I18N("Check an IBAN"));
cmdAddHelpStr(ubuf, "import",
I18N("Import a file into an import context file"));
cmdAddHelpStr(ubuf, "transfer",
I18N("Issue a single transfer (data from command line)"));
cmdAddHelpStr(ubuf, "transfers",
I18N("Issue a number of transfers (data from a file)"));
cmdAddHelpStr(ubuf, "sepatransfer",
I18N("Issue a single SEPA transfer (data from command line)"));
cmdAddHelpStr(ubuf, "sepatransfers",
I18N("Issue a number of SEPA transfers (data from a file)"));
cmdAddHelpStr(ubuf, "debitnote",
I18N("Issue a single debit note (data from command line)"));
cmdAddHelpStr(ubuf, "debitnotes",
I18N("Issue a number of debit notes (data from a file)"));
cmdAddHelpStr(ubuf, "sepadebitnote",
I18N("Issue a single SEPA debit note (data from command line)"));
cmdAddHelpStr(ubuf, "sepaflashdebitnote",
I18N("Issue a single flash SEPA debit note COR1 (data from command line)"));
cmdAddHelpStr(ubuf, "sepadebitnotes",
I18N("Issue a number of SEPA debit notes (data from a file)"));
cmdAddHelpStr(ubuf, "addtrans",
I18N("Add a transfer to an existing import context file"));
cmdAddHelpStr(ubuf, "addsepadebitnote",
I18N("Add a SEPA debit note to an existing import context file"));
cmdAddHelpStr(ubuf, "sepasto",
I18N("Manage SEPA standing orders"));
cmdAddHelpStr(ubuf, "fillgaps",
I18N("Fill gaps in an import context file from configuration settings"));
cmdAddHelpStr(ubuf, "updateconf",
I18N("Update configuration from previous AqBanking versions"));
cmdAddHelpStr(ubuf, "listprofiles",
I18N("Print existing profiles"));
cmdAddHelpStr(ubuf, "versions",
I18N("Print the program and library versions"));
GWEN_Buffer_AppendString(ubuf, "\n");
fprintf(stderr, "%s\n", GWEN_Buffer_GetStart(ubuf));
GWEN_Buffer_free(ubuf);
GWEN_DB_Group_free(db);
return 0;
}
if (rv) {
argc-=rv-1;
argv+=rv-1;
}
nonInteractive=GWEN_DB_GetIntValue(db, "nonInteractive", 0, 0);
acceptValidCerts=GWEN_DB_GetIntValue(db, "acceptValidCerts", 0, 0);
cfgDir=GWEN_DB_GetCharValue(db, "cfgdir", 0, 0);
cmd=GWEN_DB_GetCharValue(db, "params", 0, 0);
if (!cmd) {
fprintf(stderr, "ERROR: Command needed.\n");
GWEN_DB_Group_free(db);
return 1;
}
gui=GWEN_Gui_CGui_new();
s=GWEN_DB_GetCharValue(db, "charset", 0, NULL);
if (s && *s)
GWEN_Gui_SetCharSet(gui, s);
if (nonInteractive)
GWEN_Gui_AddFlags(gui, GWEN_GUI_FLAGS_NONINTERACTIVE);
else
GWEN_Gui_SubFlags(gui, GWEN_GUI_FLAGS_NONINTERACTIVE);
if (acceptValidCerts)
GWEN_Gui_AddFlags(gui, GWEN_GUI_FLAGS_ACCEPTVALIDCERTS);
else
GWEN_Gui_SubFlags(gui, GWEN_GUI_FLAGS_ACCEPTVALIDCERTS);
pinFile=GWEN_DB_GetCharValue(db, "pinFile", 0, NULL);
if (pinFile) {
GWEN_DB_NODE *dbPins;
dbPins=GWEN_DB_Group_new("pins");
if (GWEN_DB_ReadFile(dbPins, pinFile,
GWEN_DB_FLAGS_DEFAULT |
GWEN_PATH_FLAGS_CREATE_GROUP)) {
fprintf(stderr, "Error reading pinfile \"%s\"\n", pinFile);
GWEN_DB_Group_free(dbPins);
GWEN_DB_Group_free(db);
return 2;
}
GWEN_Gui_SetPasswordDb(gui, dbPins, 1);
}
GWEN_Gui_SetGui(gui);
ab=AB_Banking_new("aqbanking-cli", cfgDir, 0);
AB_Gui_Extend(gui, ab);
if (strcasecmp(cmd, "senddtazv")==0) {
rv=sendDtazv(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "listaccs")==0) {
rv=listAccs(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "listbal")==0) {
rv=listBal(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "listtrans")==0) {
rv=listTrans(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "listtransfers")==0) {
rv=listTransfers(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "request")==0) {
rv=request(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "chkacc")==0) {
rv=chkAcc(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "chkiban")==0) {
rv=chkIban(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "import")==0) {
rv=import(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "transfer")==0) {
rv=transfer(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "transfers")==0) {
rv=transfers(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "sepatransfer")==0) {
rv=sepaTransfer(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "sepatransfers")==0) {
rv=sepaMultiJobs(ab, db, argc, argv, AQBANKING_TOOL_SEPA_TRANSFERS);
}
else if (strcasecmp(cmd, "debitnote")==0) {
rv=debitNote(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "debitnotes")==0) {
rv=debitNotes(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "sepadebitnote")==0) {
rv=sepaDebitNote(ab, db, argc, argv, 0);
}
else if (strcasecmp(cmd, "sepaFlashDebitNote")==0) {
rv=sepaDebitNote(ab, db, argc, argv, 1);
}
else if (strcasecmp(cmd, "sepadebitnotes")==0) {
rv=sepaMultiJobs(ab, db, argc, argv, AQBANKING_TOOL_SEPA_DEBITNOTES);
}
else if (strcasecmp(cmd, "addtrans")==0) {
rv=addTransaction(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "addsepadebitnote")==0) {
rv=addSepaDebitNote(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "sepasto")==0) {
rv=sepaRecurTransfer(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "fillgaps")==0) {
rv=fillGaps(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "updateconf")==0) {
rv=updateConf(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "listprofiles")==0) {
rv=listProfiles(ab, db, argc, argv);
}
else if (strcasecmp(cmd, "versions")==0) {
rv=versions(ab, db, argc, argv);
}
else {
fprintf(stderr, "ERROR: Unknown command \"%s\".\n", cmd);
rv=1;
}
GWEN_DB_Group_free(db);
return rv;
}
