void main()
{
/*
Set-up variables for image matching
*/
string detector, descriptor, matcher;
string config_file;
detector = "STAR";
descriptor = "BRISK";
matcher = "BruteForce-Hamming";
config_file = "D:/Experiment/Set_3_SIDEVIEW/Input_SV_REF/config.txt";
// Do function
FeatureExtractor test_im
(detector, descriptor, matcher, config_file);
test_im.matchImgSeq();
cout << "the end" << endl;
}
TEST(xphoto_simplefeatures, regression)
{
float acc_thresh = 0.01f;
// Generate a test image:
Mat test_im(1000, 1000, CV_8UC3);
RNG rng(1234);
rng.fill(test_im, RNG::NORMAL, Scalar(64, 100, 128), Scalar(10, 10, 10));
threshold(test_im, test_im, 200.0, 255.0, THRESH_TRUNC);
test_im.at<Vec3b>(0, 0) = Vec3b(240, 220, 200);
// Which should have the following features:
Vec2f ref1(128.0f / (64 + 100 + 128), 100.0f / (64 + 100 + 128));
Vec2f ref2(200.0f / (240 + 220 + 200), 220.0f / (240 + 220 + 200));
vector<Vec2f> dst_features;
xphoto::extractSimpleFeatures(test_im, dst_features, 255, 0.98f, 64);
ASSERT_LE(cv::norm(dst_features[0], ref1, NORM_INF), acc_thresh);
ASSERT_LE(cv::norm(dst_features[1], ref2, NORM_INF), acc_thresh);
ASSERT_LE(cv::norm(dst_features[2], ref1, NORM_INF), acc_thresh);
ASSERT_LE(cv::norm(dst_features[3], ref1, NORM_INF), acc_thresh);
// check 16 bit depth:
test_im.convertTo(test_im, CV_16U, 256.0);
xphoto::extractSimpleFeatures(test_im, dst_features, 65535, 0.98f, 64);
ASSERT_LE(cv::norm(dst_features[0], ref1, NORM_INF), acc_thresh);
ASSERT_LE(cv::norm(dst_features[1], ref2, NORM_INF), acc_thresh);
ASSERT_LE(cv::norm(dst_features[2], ref1, NORM_INF), acc_thresh);
ASSERT_LE(cv::norm(dst_features[3], ref1, NORM_INF), acc_thresh);
}
void test_entry()
{
int selection, depth;
int i, j;
unsigned char readout;
selection = -1;
depth = -1;
while (1) {
sendtocom0("****************\n");
sendtocom0("SYSTEM TEST MENU\n");
sendtocom0("****************\n\n");
for (i=0; i<3; i++) sendtocom0(" ");
sendtocom0("[01] GPS TEST\n");
for (i=0; i<3; i++) sendtocom0(" ");
sendtocom0("[02] IMU TEST\n");
for (i=0; i<3; i++) sendtocom0(" ");
sendtocom0("[03] CAN TEST\n");
for (i=0; i<3; i++) sendtocom0(" ");
sendtocom0("[04] RS422 TEST\n");
for (i=0; i<3; i++) sendtocom0(" ");
sendtocom0("[05] EMV TEST\n");
sendtocom0("\n");
depth = *((unsigned char*)DBGADDR+0x10);
for (j=0; j<10; j++)
;
if (depth > 0) {
for (i=0; i<depth; i++) {
readout = *((unsigned char*)DBGADDR);
for (j=0; j<10; j++)
;
}
}
sendtocom0("Please Enter Your Choice:\n\n");
for (j=0; j<20000000; j++)
;
do {
depth = *((unsigned char*)DBGADDR+0x10);
for (j=0; j<10; j++)
;
if (depth > 0) {
selection = *((unsigned char*)DBGADDR);
for (j=0; j<10; j++)
;
break;
}
} while (selection == 0 || depth == 0);
for (j=0; j<20000000; j++)
;
switch (selection) {
case 1:
test_gps();
break;
case 2:
test_im();
break;
case 3:
test_can();
break;
case 4:
test_com();
break;
case 5:
test_EMV();
break;
}
}
}
