Example #1
0
int main(int argc, char** argv) {

    Timer* logTimer = new Timer();
    QApplication app(argc, argv);
    Logger logger("Main");
    Logger::initialize(Logger::Level::TRACE,true, true, logTimer);
    logger.trace("Logger initialized.");

    PropertyReader* propReader;
    Properties* settings;
    if (argc > 1) {
        propReader = new PropertyReader(argv[1]);
    } else {
        propReader = new PropertyReader("../src/settings/settings.txt");
    }
    // Set logging level
    settings = propReader->load();
    std::string loggingLevel = settings->getProperty("LOGGING_LEVEL");
    if (loggingLevel == "OFF") {
        Logger::setLoggingLevel(Logger::Level::OFF);
    } else if (loggingLevel == "TRACE") {
        Logger::setLoggingLevel(Logger::Level::TRACE);
    } else if (loggingLevel == "INFO") {
        Logger::setLoggingLevel(Logger::Level::INFO);
    } else if (loggingLevel == "DEBUG") {
        Logger::setLoggingLevel(Logger::Level::DEBUG);
    } else if (loggingLevel == "WARN") {
        Logger::setLoggingLevel(Logger::Level::WARN);
    } else if (loggingLevel == "ERROR") {
        Logger::setLoggingLevel(Logger::Level::ERROR);
    }

    // Set default HSV Filter values
    if (!settings->getProperty("LOW_HUE").empty()) {
        HSVFilter::defaultLowH = std::stoi(settings->getProperty("LOW_HUE"));
    }
    if (!settings->getProperty("HIGH_HUE").empty()) {
        HSVFilter::defaultHighH = std::stoi(settings->getProperty("HIGH_HUE"));
    }
    if (!settings->getProperty("LOW_SATURATION").empty()) {
        HSVFilter::defaultLowS = std::stoi(settings->getProperty("LOW_SATURATION"));
    }
    if (!settings->getProperty("HIGH_SATURATION").empty()) {
        HSVFilter::defaultHighS = std::stoi(settings->getProperty("HIGH_SATURATION"));
    }
    if (!settings->getProperty("LOW_VALUE").empty()) {
        HSVFilter::defaultLowV = std::stoi(settings->getProperty("LOW_VALUE"));
    }
    if (!settings->getProperty("HIGH_VALUE").empty()) {
        HSVFilter::defaultHighV = std::stoi(settings->getProperty("HIGH_VALUE"));
    }

    std::string mode = settings->getProperty("MODE");

    if (mode == "HSVTEST") {
        VideoTesting vt(0); //camera id or file name
        vt.run(1); //0 = video; 1 = webcam; 2 = image
    } else {
        init_signal_handler();

        SubZeroFactory* subZeroFactory = new SubZeroFactory(settings);
        Stage* mainStage = new Stage(NULL, subZeroFactory);

        mainStage->setViewContent(mode);
        mainStage->initialize();

        delete propReader;
    }
    return app.exec();

}
Example #2
0
 static void initialize(Stage& s, PointTableRef table)
 {
     s.l_initialize(table);
     s.initialize();
 }
Example #3
0
int Delta::execute()
{

    Options sourceOptions;
    {
        sourceOptions.add<std::string>("filename", m_sourceFile);
        sourceOptions.add<bool>("debug", isDebug());
        sourceOptions.add<boost::uint32_t>("verbose", getVerboseLevel());
    }
    Stage* source = AppSupport::makeReader(sourceOptions);
    source->initialize();
    
    boost::uint32_t totalPointCount(source->getNumPoints());
    
    PointBuffer source_data(source->getSchema(), totalPointCount);
    StageSequentialIterator* source_iter = source->createSequentialIterator(source_data);

    boost::uint32_t  numRead = source_iter->read(source_data);
    assert(numRead == source_data.getNumPoints());

    delete source_iter;
    delete source;



    Options candidateOptions;
    {
        candidateOptions.add<std::string>("filename", m_candidateFile);
        candidateOptions.add<bool>("debug", isDebug());
        candidateOptions.add<boost::uint32_t>("verbose", getVerboseLevel());
    }

    Stage* candidate = AppSupport::makeReader(candidateOptions);

    candidate->initialize();    


    IndexedPointBuffer candidate_data(candidate->getSchema(), totalPointCount);
    StageSequentialIterator* candidate_iter = candidate->createSequentialIterator(candidate_data);

    numRead = candidate_iter->read(candidate_data);
    assert(numRead == candidate_data.getNumPoints());
        
    delete candidate_iter;    


    if (source_data.getNumPoints() != candidate_data.getNumPoints())
    {
        std::cerr << "Source and candidate files do not have the same point count, testing each source point only!" << std::endl;
    }
    

    // m_summary_x(xd);
    // m_summary_y(yd);
    // m_summary_z(zd);

    if (m_outputFileName.size())
    {
        m_outputStream = FileUtils::createFile(m_outputFileName);
    }

    candidate_data.build(m_3d);
    boost::uint32_t count(std::min(source_data.getNumPoints(), candidate_data.getNumPoints()));
    


    boost::scoped_ptr<std::map<Point, Point> > points(cumulatePoints(source_data, candidate_data));
    if (m_OutputDetail)
    {
        outputDetail(source_data, candidate_data, points.get());
        return 0;
    }
    
    std::map<Point, Point>::const_iterator i;
    for(i = points->begin(); i != points->end(); ++i)
    {
        Point const& s = i->first;
        Point const& c = i->second;

        double xd = s.x - c.x;
        double yd = s.y - c.y;
        double zd = s.z - c.z;        
        m_summary_x(xd);
        m_summary_y(yd);
        m_summary_z(zd);        
    }
    
    std::string headline("------------------------------------------------------------------------------------------");
    std::cout << headline << std::endl;
    std::cout << " Delta summary for source '" << m_sourceFile << "' and candidate '" << m_candidateFile <<"'" << std::endl;
    std::cout << headline << std::endl;
    std::cout << std::endl;
    
    std::string thead("----------- --------------- --------------- --------------");
    std::cout << thead << std::endl;
    std::cout << " Dimension       X             Y                  Z    " << std::endl;
    std::cout << thead << std::endl;
    
    boost::format fmt("%.4f");
    double sminx  = (boost::accumulators::min)(m_summary_x);
    double sminy  = (boost::accumulators::min)(m_summary_y);
    double sminz  = (boost::accumulators::min)(m_summary_z);
    double smaxx  = (boost::accumulators::max)(m_summary_x);
    double smaxy  = (boost::accumulators::max)(m_summary_y);
    double smaxz  = (boost::accumulators::max)(m_summary_z);
    
    double smeanx  = (boost::accumulators::mean)(m_summary_x);
    double smeany  = (boost::accumulators::mean)(m_summary_y);
    double smeanz  = (boost::accumulators::mean)(m_summary_z);
    
    std::cout << " Min        " << fmt % sminx << "            " << fmt % sminy << "            " << fmt % sminz<<std::endl;
    std::cout << " Min        " << fmt % smaxx << "            " << fmt % smaxy << "            " << fmt % smaxz<<std::endl;
    std::cout << " Mean       " << fmt % smeanx << "            " << fmt % smeany << "            " << fmt % smeanz<<std::endl;
    std::cout << thead << std::endl;
    
    return 0;
}