// This function translates a set of bits read from the key IO ports into key events.
// Adding more keys is a matter of adding a new enum value, and one reading
// one more port in ReadKeys()
int GetKeyEvents(void) {
static int KeyPressFlag = 0;
static int Count[NO_EVENT] = { 0 };
int LoopCount;
int RawKeys;
RawKeys = ReadKeys();
for (LoopCount = 0; LoopCount < NO_EVENT; LoopCount++) {
if (RawKeys & (1 << LoopCount)) {
Count[LoopCount]++;
if ((Count[LoopCount] >= KEY_PRESS_MINIMUM)
&& !(KeyPressFlag & (1 << LoopCount))) {
KeyPressFlag |= (1 << LoopCount);
Count[LoopCount] = 0;
return LoopCount;
}
} else {
KeyPressFlag &= ~(1 << LoopCount);
Count[LoopCount] = 0;
}
}
return NO_EVENT;
}
/* This reads a keypoint file from a given filename and returns the list
* of keypoints. */
int ReadKeyFile(const char *filename, unsigned char **keys, keypt_t **info)
{
FILE *file;
file = fopen (filename, "r");
if (! file) {
/* Try to file a gzipped keyfile */
char buf[1024];
sprintf(buf, "%s.gz", filename);
gzFile gzf = gzopen(buf, "rb");
if (gzf == NULL) {
printf("Could not open file: %s\n", filename);
return 0;
} else {
int n = ReadKeysGzip(gzf, keys, info);
gzclose(gzf);
return n;
}
}
int n = ReadKeys(file, keys, info);
fclose(file);
return n;
// return ReadKeysMMAP(file);
}
/* This reads a keypoint file from a given filename and returns the list
of keypoints.
*/
Keypoint ReadKeyFile(char *filename)
{
FILE *file;
file = fopen (filename, "r");
if (! file)
FatalError("Could not open file: %s", filename);
return ReadKeys(file);
}
int main(int argc, char **argv)
{
const int dim = 128;
if (argc != 6 && argc != 7 && argc != 8) {
printf("Usage: %s <tree.in> <db.in> <query.in> <num_nbrs> "
"<matches.out> [distance_type:1] [normalize:1]\n", argv[0]);
return 1;
}
char *tree_in = argv[1];
char *db_in = argv[2];
char *query_in = argv[3];
int num_nbrs = atoi(argv[4]);
char *matches_out = argv[5];
DistanceType distance_type = DistanceMin;
bool normalize = true;
#if 0
if (argc >= 7)
output_html = argv[6];
#endif
if (argc >= 7)
distance_type = (DistanceType) atoi(argv[6]);
if (argc >= 8)
normalize = (atoi(argv[7]) != 0);
printf("[VocabMatch] Using tree %s\n", tree_in);
switch (distance_type) {
case DistanceDot:
printf("[VocabMatch] Using distance Dot\n");
break;
case DistanceMin:
printf("[VocabMatch] Using distance Min\n");
break;
default:
printf("[VocabMatch] Using no known distance!\n");
break;
}
/* Read the tree */
printf("[VocabMatch] Reading tree...\n");
fflush(stdout);
clock_t start = clock();
VocabTree tree;
tree.Read(tree_in);
clock_t end = clock();
printf("[VocabMatch] Read tree in %0.3fs\n",
(double) (end - start) / CLOCKS_PER_SEC);
#if 1
tree.Flatten();
#endif
tree.SetDistanceType(distance_type);
tree.SetInteriorNodeWeight(0, 0.0);
/* Read the database keyfiles */
FILE *f = fopen(db_in, "r");
std::vector<std::string> db_files;
char buf[256];
while (fgets(buf, 256, f)) {
/* Remove trailing newline */
if (buf[strlen(buf) - 1] == '\n')
buf[strlen(buf) - 1] = 0;
db_files.push_back(std::string(buf));
}
fclose(f);
/* Read the query keyfiles */
f = fopen(query_in, "r");
std::vector<std::string> query_files;
while (fgets(buf, 256, f)) {
/* Remove trailing newline */
if (buf[strlen(buf) - 1] == '\n')
buf[strlen(buf) - 1] = 0;
char keyfile[256];
sscanf(buf, "%s", keyfile);
query_files.push_back(std::string(keyfile));
}
fclose(f);
int num_db_images = db_files.size();
int num_query_images = query_files.size();
printf("[VocabMatch] Read %d database images\n", num_db_images);
/* Now score each query keyfile */
printf("[VocabMatch] Scoring %d query images...\n", num_query_images);
fflush(stdout);
#if 0
FILE *f_html = fopen(output_html, "w");
PrintHTMLHeader(f_html, num_nbrs);
#endif
float *scores = new float[num_db_images];
double *scores_d = new double[num_db_images];
int *perm = new int[num_db_images];
FILE *f_match = fopen(matches_out, "w");
if (f_match == NULL) {
printf("[VocabMatch] Error opening file %s for writing\n",
matches_out);
return 1;
}
for (int i = 0; i < num_query_images; i++) {
start = clock();
/* Clear scores */
for (int j = 0; j < num_db_images; j++)
scores[j] = 0.0;
unsigned char *keys;
int num_keys;
keys = ReadKeys(query_files[i].c_str(), dim, num_keys);
clock_t start_score = clock();
double mag = tree.ScoreQueryKeys(num_keys, normalize, keys, scores);
clock_t end_score = end = clock();
printf("[VocabMatch] Scored image %s in %0.3fs "
"( %0.3fs total, num_keys = %d, mag = %0.3f )\n",
query_files[i].c_str(),
(double) (end_score - start_score) / CLOCKS_PER_SEC,
(double) (end - start) / CLOCKS_PER_SEC, num_keys, mag);
/* Find the top scores */
for (int j = 0; j < num_db_images; j++) {
scores_d[j] = (double) scores[j];
}
qsort_descending();
qsort_perm(num_db_images, scores_d, perm);
int top = MIN(num_nbrs, num_db_images);
for (int j = 0; j < top; j++) {
// if (perm[j] == index_i)
// continue;
fprintf(f_match, "%d %d %0.4f\n", i, perm[j], scores_d[j]);
//fprintf(f_match, "%d %d %0.4f\n", i, perm[j], mag - scores_d[j]);
}
fflush(f_match);
fflush(stdout);
#if 0
PrintHTMLRow(f_html, query_files[i], scores_d,
perm, num_nbrs, db_files);
#endif
delete [] keys;
}
fclose(f_match);
#if 0
PrintHTMLFooter(f_html);
fclose(f_html);
#endif
delete [] scores;
delete [] scores_d;
delete [] perm;
return 0;
}
void testReadKeys(void)
{
// Testing key0 only
if ( ReadKeys(0x01) != NO_EVENT ) { printf(" failed on 1. call"); }
else if ( ReadKeys(0x01) != NO_EVENT ) { printf(" failed on 2. call"); }
else if ( ReadKeys(0x01) != NO_EVENT ) { printf(" failed on 3. call"); }
else if ( ReadKeys(0x01) != NO_EVENT ) { printf(" failed on 4. call"); }
else if ( ReadKeys(0x01) != NO_EVENT ) { printf(" failed on 5. call"); }
else if ( ReadKeys(0x01) != KEY0_EVENT ) { printf(" failed on 6. call"); }
// test key1 only
else if ( ReadKeys(0x02) != NO_EVENT ) { printf(" failed on 7. call"); }
else if ( ReadKeys(0x02) != NO_EVENT ) { printf(" failed on 8. call"); }
else if ( ReadKeys(0x02) != NO_EVENT ) { printf(" failed on 9. call"); }
else if ( ReadKeys(0x02) != NO_EVENT ) { printf(" failed on 10. call"); }
else if ( ReadKeys(0x02) != NO_EVENT ) { printf(" failed on 11. call"); }
else if ( ReadKeys(0x02) != KEY1_EVENT ) { printf(" failed on 12. call"); }
// let go of keys
else if ( ReadKeys(0x00) != NO_EVENT) { printf(" failed on 13. call"); }
// test key0 and key1 at the same time
else if ( ReadKeys(0x18) != NO_EVENT ) { printf(" failed on 14. call"); }
else if ( ReadKeys(0x18) != NO_EVENT ) { printf(" failed on 15. call"); }
else if ( ReadKeys(0x18) != NO_EVENT ) { printf(" failed on 16. call"); }
else if ( ReadKeys(0x18) != NO_EVENT ) { printf(" failed on 17. call"); }
else if ( ReadKeys(0x18) != NO_EVENT ) { printf(" failed on 18. call"); }
else if ( ReadKeys(0x18) != KEY3_EVENT ) { printf(" failed on 19. call"); }
else if ( ReadKeys(0x18) != KEY4_EVENT) { printf(" failed on 20. call"); }
else if ( ReadKeys(0x18) != NO_EVENT) { printf(" failed on 21. call"); }
else if ( ReadKeys(0x18) != NO_EVENT) { printf(" failed on 22. call"); }
else printf("passed !");
}
// With this setup it would seem like main() must be the first function in this file, otherwise
// the wrong function gets called on reset.
int
main(void)
{
volatile unsigned long ulLoop;
volatile int event;
initHW();
// Start the OLED display and write a message on it
RIT128x96x4Init(ulSSI_FREQUENCY);
RIT128x96x4StringDraw("Hi :)", 0, 0, mainFULL_SCALE);
RIT128x96x4StringDraw("enter the code ...", 0, 5, mainFULL_SCALE);
// Wait for the select key to be pressed
while (GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_1))
;
// Wait for the select key to be pressed
while (GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_0))
; // Wait for the select key to be pressed
while (GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_1))
; // Wait for the select key to be pressed
while (GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_2))
;
// Wait for the select key to be pressed
while (GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_3))
;
//
// Loop forever.
//
while (1)
{
// This is where a statemachine could be added
event = GetKeyEvents( ReadKeys() );
if (event == KEY_ENTER)
RIT128x96x4StringDraw("Enter Pressed", 0, 0, mainFULL_SCALE);
if (event == KEY_UP)
RIT128x96x4StringDraw("up Pressed", 0, 0, mainFULL_SCALE);
if (event == KEY_DOWN)
RIT128x96x4StringDraw("down Pressed", 0, 0, mainFULL_SCALE);
if (event == KEY_CANCEL)
RIT128x96x4StringDraw("cancel Pressed", 0, 0, mainFULL_SCALE);
//
// Turn on the LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_PIN_0);
// GPIO_PORTF_DATA_R |= 0x01;
//
// Delay for a bit.
// This is BAD STYLE (tm) any embedded system should be either free-running or timer based
for (ulLoop = 0; ulLoop < 200000; ulLoop++)
{
}
//
// Turn off the LED.
//
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 0);
//
// Delay for a bit.
//
// for (ulLoop = 0; ulLoop < 200000; ulLoop++)
// {
// }
SysCtlSleep();
}
return 0;
}
