void smilePrintHeader()
{
SMILE_PRINT(" ");
SMILE_PRINT(" =============================================================== ");
SMILE_PRINT(" %s version %s",APPNAME,APPVERSION);
SMILE_PRINT(" Build date: %s",APPDATE);
SMILE_PRINT(" (c) %s by %s",APPCPYEAR,APPCPAUTHOR);
SMILE_PRINT(" See the file COPYING for details on the license terms!");
SMILE_PRINT(" %s",APPCPINST);
SMILE_PRINT(" =============================================================== ");
SMILE_PRINT(" ");
}
void cCommandlineParser::showUsage(const char *binname)
{
smilePrintHeader();
if (binname == NULL) {
SMILE_PRINT("Usage: SMILExtract [-option (value)] ...");
} else {
SMILE_PRINT("Usage: %s [-option (value)] ...",binname);
}
SMILE_PRINT(" ");
SMILE_PRINT(" -h Show this usage information");
SMILE_PRINT(" ");
int i;
for (i=0; i<N; i++) {
const char *ty="";
switch (opt[i].type) {
case CMDOPT_BOOLEAN:
if (opt[i].argMandatory) ty="<boolean 0/1>";
else ty="[boolean 0/1]";
break;
case CMDOPT_INT:
if (opt[i].argMandatory) ty="<integer value>";
else ty="[integer value]";
break;
case CMDOPT_DOUBLE:
if (opt[i].argMandatory) ty="<float value>";
else ty="[float value]";
break;
case CMDOPT_STR:
if (opt[i].argMandatory) ty="<string>";
else ty="[string]";
break;
default:
COMP_ERR("showUsage: unknown option type encountered! (ty=%i for opt # %i)",opt[i].type,i);
}
if (opt[i].abbr != 0) {
SMILE_PRINT(" -%c, -%s \t %s",opt[i].abbr,opt[i].name,ty);
} else {
SMILE_PRINT(" -%s \t %s",opt[i].name,ty);
}
if (opt[i].description) {
SMILE_PRINT(" %s",opt[i].description);
}
switch (opt[i].type) {
case CMDOPT_BOOLEAN:
case CMDOPT_INT:
SMILE_PRINT(" {{ default = %i }}",opt[i].dfltInt);
break;
case CMDOPT_DOUBLE:
SMILE_PRINT(" {{ default = %f }}",opt[i].dfltDouble);
break;
case CMDOPT_STR:
SMILE_PRINT(" {{ default = '%s' }}",opt[i].dfltStr);
break;
default:
COMP_ERR("showUsage: unknown option type encountered! (ty=%i for opt # %i)",opt[i].type,i);
}
SMILE_PRINT(" ");
}
}
void cLibsvmLiveSink::processResult(long long tick, long frameIdx, double time, float res, double *probEstim, int nClasses, double dur)
{
//ros::Rate loop_rate(10);
// int count = 0;
// while (ros::ok())
// {
//// %EndTag(ROS_OK)%
// /**
// * This is a message object. You stuff it with data, and then publish it.
// */
//// %Tag(FILL_MESSAGE)%
// std_msgs::String msg;
// std::stringstream ss;
// ss << "hello world " << count;
// msg.data = ss.str();
//// %EndTag(FILL_MESSAGE)%
//// %Tag(ROSCONSOLE)%
// ROS_INFO("%s", msg.data.c_str());
//// %EndTag(ROSCONSOLE)%
// /**
// * The publish() function is how you send messages. The parameter
// * is the message object. The type of this object must agree with the type
// * given as a template parameter to the advertise<>() call, as was done
// * in the constructor above.
// */
//// %Tag(PUBLISH)%
// chatter_pub.publish(msg);
//// %EndTag(PUBLISH)%
//// %Tag(SPINONCE)%
// ros::spinOnce();
//// %EndTag(SPINONCE)%
//// %Tag(RATE_SLEEP)%
// loop_rate.sleep();
//// %EndTag(RATE_SLEEP)%
// ++count;
// }
std_msgs::String emoMsg;
std_msgs::String affectMsg;
if (printResult) {
if ((nCls>0)&&(nClasses > 0)&&(classNames != NULL)) {
if (labels!=NULL) {
if ((int)res >= nClasses) res = (float)(nClasses-1);
if (res < 0.0) res = 0.0;
res = (float)labels[(int)res];
}
if ((int)res >= nCls) res = (float)nCls;
if (res < 0.0) res = 0.0;
SMILE_PRINT("\n LibSAVM '%s' result (@ time: %f) : ~~> %s <~~",getInstName(),time,classNames[(int)res]);
std::string instName = getInstName();
std::string emoName = "emodbEmotion";
std::string affectName = "abcAffect";
if (instName == emoName)
{
emoMsg.data = classNames[(int)res];
emo_pub.publish(emoMsg);
}
if (instName == affectName)
{
affectMsg.data = classNames[(int)res];
affect_pub.publish(affectMsg);
}
} else {
SMILE_PRINT("\n LibSBVM '%s' result (@ time: %f) : ~~> %.2f <~~",getInstName(),time,res);
}
if (probEstim != NULL) {
int i;
for (i=0; i<nClasses; i++) {
int idx = i;
if (labels!=NULL) idx = labels[i];
if ((nCls>0)&&(nClasses > 0)&&(classNames != NULL)) {
if (idx >= nCls) idx=nCls-1;
if (idx < 0) idx = 0;
SMILE_PRINT(" prob. class '%s': \t %f",classNames[idx],probEstim[i]);
} else {
SMILE_PRINT(" prob. class %i : \t %f",idx,probEstim[i]);
}
}
}
}
// send result as componentMessage
if (sendResult) {
cComponentMessage msg("classificationResult", resultMessageName);
if ((nCls>0)&&(nClasses > 0)&&(classNames != NULL)) {
if (labels!=NULL) {
if ((int)res >= nClasses) res = (float)(nClasses-1);
if (res < 0.0) res = 0.0;
res = (float)labels[(int)res];
}
if ((int)res >= nCls) res = (float)nCls;
if (res < 0.0) res = 0.0;
strncpy(msg.msgtext, classNames[(int)res], CMSG_textLen);
}
msg.floatData[0] = res;
msg.intData[0] = nClasses;
msg.custData = probEstim;
msg.userTime1 = time;
msg.userTime2 = time+dur;
// TO TEST .....
sendComponentMessage( resultRecp, &msg );
SMILE_IDBG(3,"sending 'classificationResult' message to '%s'",resultRecp);
}
}
