void Binary::construct(std::string n, BinaryFormat f){
if (f == BinaryFormat_undefined){
f = detectFormat(n);
}
format = f;
EPAXOut << "File " << n << " is a " << getFormatName() << " file" << ENDL;
EPAXAssert(format != BinaryFormat_undefined, "Cannot determine format of " << n << ". Try specifying it manually.");
switch (format){
case BinaryFormat_Elf32:
binary = new Elf::ElfBinary32(n);
break;
case BinaryFormat_Elf64:
binary = new Elf::ElfBinary64(n);
break;
case BinaryFormat_MachO32:
binary = new MachO::MachOBinary32(n);
break;
case BinaryFormat_MachO64:
binary = new MachO::MachOBinary64(n);
break;
default:
EPAXDie("Unimplemented binary format " << getFormatName() << " given.");
}
EPAXOut << "Program entry point at vaddr " << HEX(binary->getStartAddr()) << ENDL;
lineinfo = new LineInformation(binary);
binary->describe();
//EPAXAssert(binary->isARM(), "This binary contains non-ARM code... bailing");
}
/**
* Calls the import method of the filter responsible for the format
* of the given file.
*
* @param graphic The container to which we will add
* entities. Usually that's an RS_Graphic entity but
* it can also be a polyline, text, ...
* @param file Path and name of the file to import.
*/
bool RS_FileIO::fileImport(RS_Graphic& graphic, const QString& file,
RS2::FormatType type) {
RS_DEBUG->print("Trying to import file '%s'...", file.toLatin1().data());
RS2::FormatType t;
if (type == RS2::FormatUnknown) {
t = detectFormat(file);
}
else {
t = type;
}
if (RS2::FormatUnknown != t) {
std::unique_ptr<RS_FilterInterface> filter(getImportFilter(file, t));
if (filter.get() != NULL ){
return filter->fileImport(graphic, file, t);
}
RS_DEBUG->print(RS_Debug::D_WARNING,
"RS_FileIO::fileImport: failed to import file: %s",
file.toLatin1().data());
}
else {
RS_DEBUG->print(RS_Debug::D_WARNING,
"RS_FileIO::fileImport: failed to detect file format: %s",
file.toLatin1().data());
}
return false;
}
void ImageScanner::scanImageInformation()
{
DatabaseFields::ImageInformation dbFields = DatabaseFields::ImageInformationAll;
QVariantList infos;
if (m_scanMode == NewScan || m_scanMode == Rescan)
{
MetadataFields fields;
fields << MetadataInfo::Rating
<< MetadataInfo::CreationDate
<< MetadataInfo::DigitizationDate
<< MetadataInfo::Orientation;
QVariantList metadataInfos = m_metadata.getMetadataFields(fields);
// creation date: fall back to file system property
if (metadataInfos[1].isNull() || !metadataInfos[1].toDateTime().isValid())
{
metadataInfos[1] = creationDateFromFilesystem(m_fileInfo);
}
// Some fields should only be overwritten if set in metadata
if (m_scanMode == Rescan)
{
if (metadataInfos[0].isNull() || metadataInfos[0].toInt() == -1)
{
dbFields &= ~DatabaseFields::Rating;
metadataInfos.removeAt(0);
}
}
infos << metadataInfos;
}
QSize size = m_img.size();
infos << size.width()
<< size.height()
<< detectFormat()
<< m_img.originalBitDepth()
<< m_img.originalColorModel();
if (m_scanMode == NewScan)
{
DatabaseAccess().db()->addImageInformation(m_scanInfo.id, infos, dbFields);
}
else if (m_scanMode == Rescan)
{
DatabaseAccess().db()->changeImageInformation(m_scanInfo.id, infos, dbFields);
}
else // ModifiedScan
{
// Does _not_ update rating and orientation!
DatabaseAccess().db()->changeImageInformation(m_scanInfo.id, infos,
DatabaseFields::Width |
DatabaseFields::Height |
DatabaseFields::Format |
DatabaseFields::ColorDepth |
DatabaseFields::ColorModel);
}
}
void DDS::readStandardHeader(Common::SeekableReadStream &dds) {
// All DDS header should be 124 bytes (+ 4 for the FourCC) big
if (dds.readUint32LE() != 124)
throw Common::Exception("Header size invalid");
// DDS features
uint32 flags = dds.readUint32LE();
// Image dimensions
uint32 height = dds.readUint32LE();
uint32 width = dds.readUint32LE();
dds.skip(4 + 4); // Pitch + Depth
//uint32 pitchOrLineSize = dds.readUint32LE();
//uint32 depth = dds.readUint32LE();
uint32 mipMapCount = dds.readUint32LE();
// DDS doesn't provide any mip maps, only one full-size image
if ((flags & kHeaderFlagsHasMipMaps) == 0)
mipMapCount = 1;
dds.skip(44); // Reserved
// Read the pixel data format
DDSPixelFormat format;
format.size = dds.readUint32LE();
format.flags = dds.readUint32LE();
format.fourCC = dds.readUint32BE();
format.bitCount = dds.readUint32LE();
format.rBitMask = dds.readUint32LE();
format.gBitMask = dds.readUint32LE();
format.bBitMask = dds.readUint32LE();
format.aBitMask = dds.readUint32LE();
// Detect which specific format it describes
detectFormat(format);
dds.skip(16 + 4); // DDCAPS2 + Reserved
_mipMaps.reserve(mipMapCount);
for (uint32 i = 0; i < mipMapCount; i++) {
MipMap *mipMap = new MipMap;
mipMap->width = MAX<uint32>(width , 1);
mipMap->height = MAX<uint32>(height, 1);
setSize(*mipMap);
mipMap->data = 0;
width >>= 1;
height >>= 1;
_mipMaps.push_back(mipMap);
}
}
/**
* Calls the export method of the object responsible for the format
* of the given file.
*
* @param file Path and name of the file to import.
*/
bool RS_FileIO::fileExport(RS_Graphic& graphic, const QString& file,
RS2::FormatType type) {
RS_DEBUG->print("RS_FileIO::fileExport");
//RS_DEBUG->print("Trying to export file '%s'...", file.latin1());
if (type==RS2::FormatUnknown) {
type=detectFormat(file, false);
}
std::unique_ptr<RS_FilterInterface>&& filter(getExportFilter(file, type));
if (filter){
return filter->fileExport(graphic, file, type);
}
RS_DEBUG->print("RS_FileIO::fileExport: no filter found");
return false;
}
bool Image::initWithImageData(const unsigned char * data, ssize_t dataLen)
{
bool ret = false;
do
{
CC_BREAK_IF(!data || dataLen <= 0);
unsigned char* unpackedData = nullptr;
ssize_t unpackedLen = 0;
unpackedData = const_cast<unsigned char*>(data);
unpackedLen = dataLen;
_fileType = detectFormat(unpackedData, unpackedLen);
switch (_fileType)
{
case Format::PNG:
ret = initWithPngData(unpackedData, unpackedLen);
break;
case Format::JPG:
ret = initWithJpgData(unpackedData, unpackedLen);
break;
case Format::S3TC:
ret = initWithS3TCData(unpackedData, unpackedLen);
break;
default:
OUTPUT_LOG("unsupported image format!");
}
if (unpackedData != data)
{
free(unpackedData);
}
} while (0);
return ret;
}
/**
* Calls the import method of the filter responsible for the format
* of the given file.
*
* @param graphic The container to which we will add
* entities. Usually that's an RS_Graphic entity but
* it can also be a polyline, text, ...
* @param file Path and name of the file to import.
*/
bool RS_FileIO::fileImport(RS_Graphic& graphic, const QString& file,
RS2::FormatType type) {
RS_DEBUG->print("Trying to import file '%s'...", file.toLatin1().data());
RS2::FormatType t;
if (type == RS2::FormatUnknown) {
t = detectFormat(file);
}
else {
t = type;
}
if (RS2::FormatUnknown != t) {
std::unique_ptr<RS_FilterInterface>&& filter(getImportFilter(file, t));
if (filter){
#ifdef DWGSUPPORT
if (file.endsWith(".dwg",Qt::CaseInsensitive)){
QMessageBox::StandardButton sel = QMessageBox::warning(qApp->activeWindow(), QObject::tr("Warning"),
QObject::tr("experimental, save your work first.\nContinue?"),
QMessageBox::Ok|QMessageBox::Cancel, QMessageBox::NoButton);
if (sel == QMessageBox::Cancel)
return false;
}
#endif
return filter->fileImport(graphic, file, t);
}
RS_DEBUG->print(RS_Debug::D_WARNING,
"RS_FileIO::fileImport: failed to import file: %s",
file.toLatin1().data());
}
else {
RS_DEBUG->print(RS_Debug::D_WARNING,
"RS_FileIO::fileImport: failed to detect file format: %s",
file.toLatin1().data());
}
return false;
}
int main(int argc, char *argv[])
{
//test pour savoir si l'utilisateur a renseigne un parametre
if(argc <= 3)
{
std::cout<<"---------------------------------------"<<std::endl<<
"Veuillez rentrer la methode choisie : "<<std::endl<<
"- template_tracking" <<std::endl<<
"- LK_tracking" <<std::endl<<
"- farneback" <<std::endl<<
"- camshift_kalman" <<std::endl<<
"- background_lk" <<std::endl<<
"- background_kalman" <<std::endl<<std::endl<<
"Le type de format : " <<std::endl<<
"- video" <<std::endl<<
"- image" <<std::endl<<std::endl<<
"Le nom du fichier d'input" <<std::endl<<
"---------------------------------------"<<std::endl;
std::exit(EXIT_FAILURE);
}
//------------------VARIABLES----------------------------------------------//
//Variables communes
choiceAlgo algo;
formatVideo format;
std::string inputFileName(argv[3]);
int nbTrames = 501;
double fps = 0;
std::vector<cv::Mat> sequence;
cv::Mat previousSequence;
int nbPedestrians = 0;
cv::HOGDescriptor hog;
hog.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());
std::vector<cv::Rect> detectedPedestrian;
// HOG + Good feature to track + LK
std::vector<std::vector<cv::Point2f>> featuresDetected;
std::vector<std::vector<cv::Point2f>> previousFeaturesDetected;
// HOG + Template tracking
std::vector<cv::Rect> boxes;
std::vector<cv::Rect> previousBoxes;
// Optical flow farneback
cv::Mat flow;
cv::Mat imGray;
cv::Mat imGrayPrev;
//camshift and kalman filter
std::vector<cv::MatND> backProj;
std::vector<cv::Rect> roiHogDetected;
std::vector<cv::Rect> roiCamShift;
std::vector<bool> detected;
std::vector<cv::Mat> hist;
std::vector<cv::RotatedRect> rectCamShift;
cv::Point2f rect_points[4];
//--------------------------------------------------------------------------------------//
//Background substraction, pour le tracking LK et goodfeaturestotrack regarder au dessus
trackingOption tracking;
cv::Ptr<cv::BackgroundSubtractor> pMOG2;
std::vector<cv::Rect> detectedPedestrianFiltered;
cv::KalmanFilter KF(4,2,0,CV_32F);
cv::Mat_<float> measurement(2,1);
cv::Mat prediction;
cv::Mat estimated;
pMOG2 = cv::createBackgroundSubtractorMOG2();
//Avec ajout du Haar cascade classifier
std::vector<std::vector<cv::Rect>> rect_upper_body;
cv::CascadeClassifier classifier;
std::string upper_body_cascade_name = "haarcascade_fullbody.xml";
if(!classifier.load(upper_body_cascade_name))
{
std::cout<<"le fichier "<<upper_body_cascade_name<<" ne peut etre charge"<<std::endl;
return -1;
}
//--------------------------------------------------------------------------------------//
//Background substraction and Kalman
bool initKalman = true;
cv::KalmanFilter Kalman(4,2,0,CV_32F);
cv::Mat_<float> measurmt(2,1);
cv::Mat predict;
cv::Mat estim;
Kalman.transitionMatrix.at<float>(0,0) = 1;
Kalman.transitionMatrix.at<float>(0,1) = 0;
Kalman.transitionMatrix.at<float>(0,2) = 1;
Kalman.transitionMatrix.at<float>(0,3) = 0;
Kalman.transitionMatrix.at<float>(1,0) = 0;
Kalman.transitionMatrix.at<float>(1,1) = 1;
Kalman.transitionMatrix.at<float>(1,2) = 0;
Kalman.transitionMatrix.at<float>(1,3) = 1;
Kalman.transitionMatrix.at<float>(2,0) = 0;
Kalman.transitionMatrix.at<float>(2,1) = 0;
Kalman.transitionMatrix.at<float>(2,2) = 1;
Kalman.transitionMatrix.at<float>(2,3) = 0;
Kalman.transitionMatrix.at<float>(3,0) = 0;
Kalman.transitionMatrix.at<float>(3,1) = 0;
Kalman.transitionMatrix.at<float>(3,2) = 0;
Kalman.transitionMatrix.at<float>(3,3) = 1;
measurmt.setTo(cv::Scalar(0));
cv::setIdentity(Kalman.measurementMatrix);
cv::setIdentity(Kalman.processNoiseCov, cv::Scalar::all(1e-4));
cv::setIdentity(Kalman.measurementNoiseCov, cv::Scalar::all(1e-1));
cv::setIdentity(Kalman.errorCovPost, cv::Scalar::all(.1));
cv::Rect rectK;
cv::Rect prevRectK;
//acquisition de la video
algo = detectAlgo(std::string(argv[1]));
format = detectFormat(std::string(argv[2]));
//------------------VIDEO--------------------------------------------------//
if(format == SEQUENCE_IMAGE)
sequence.resize(nbTrames);
else if(format == VIDEO)
std::cout<<"video"<<std::endl;
extractVideoData(sequence, format, inputFileName, nbTrames, fps);
cv::namedWindow("Video", cv::WINDOW_AUTOSIZE);
//------------------TRAITEMENT-VIDEO---------------------------------------//
for(int i=0;i<nbTrames;i++)
{
if(i>0)
previousSequence = sequence[i-1];
else
previousSequence = sequence[i];
///------------------HOG + Good Features to track + LK-----------------//
if(algo == HOG_GOODFEATURESTOTRACK_LK)
{
if(i%20 == 0)
{
detectedPedestrian = hogDetection(sequence[i], hog);
nbPedestrians = detectedPedestrian.size();
if(nbPedestrians != 0)
{
featuresDetected = featuresDetection(sequence[i], detectedPedestrian);
previousFeaturesDetected.resize(featuresDetected.size());
previousFeaturesDetected = featuresDetected;
}
}
else if(previousFeaturesDetected.size() != 0)
{
featuresDetected = lucasKanadeTracking(previousSequence, sequence[i], previousFeaturesDetected);
previousFeaturesDetected.clear();
previousFeaturesDetected.resize(featuresDetected.size());
previousFeaturesDetected = featuresDetected;
}
//--------Representation--------------------
/*
cv::Scalar myColor;
for(size_t j=0;j<featuresDetected.size();j++)
{
if(j%3 == 0)
myColor = cv::Scalar(0,0,cv::RNG().uniform(200,255));
else if(j%2 == 0)
myColor = cv::Scalar(0,cv::RNG().uniform(200,255),0);
else
myColor = cv::Scalar(cv::RNG().uniform(200,255),0,0);
for(size_t k=0;k<featuresDetected[j].size();k++)
{
cv::circle(sequence[i], featuresDetected[j][k], 1, myColor,-1);
}
}
*/
for(size_t j=0;j<featuresDetected.size();j++)
{
cv::rectangle(sequence[i], cv::boundingRect(featuresDetected[j]), cv::Scalar( 0, 0, 255), 2, 8, 0 );
}
//affichage de la video
cv::imshow("Video", sequence[i]);
}
///------------------HOG + Template Tracking---------------------------//
else if(algo == HOG_TEMPLATE_TRACKING)
{
if(i%20 == 0)
{
detectedPedestrian = hogDetection(sequence[i], hog);
nbPedestrians = detectedPedestrian.size();
if(nbPedestrians != 0)
{
boxes = templateTracking(sequence[i], detectedPedestrian, CV_TM_CCORR_NORMED);
previousBoxes.resize(boxes.size());
previousBoxes = boxes;
}
}
else if(previousBoxes.size() != 0)
{
boxes = templateTracking(sequence[i], previousBoxes, CV_TM_CCORR_NORMED);
previousBoxes.clear();
previousBoxes.resize(boxes.size());
previousBoxes = boxes;
}
//--------Representation--------------------
for(size_t j=0;j<boxes.size();j++)
{
cv::rectangle(sequence[i], boxes[j], cv::Scalar( 0, 0, 255), 2, 8, 0 );
}
//affichage de la video
cv::imshow("Video", sequence[i]);
}
///------------------HOG + Optical Flow Farneback----------------------//
else if(algo == OPT_FLOW_FARNEBACK)
{
if(i!=0)
{
flow = cv::Mat::zeros(sequence[i].size(), CV_32FC2);
cv::cvtColor(sequence[i], imGray, CV_BGR2GRAY);
cv::cvtColor(sequence[i-1], imGrayPrev, CV_BGR2GRAY);
cv::calcOpticalFlowFarneback(imGrayPrev, imGray, flow, 0.5, 3, 15, 3, 5, 1.2, 0);
//-----------------Representation------------------------------//
drawOptFlowMap(flow, imGrayPrev, 16, CV_RGB(0, 255, 0)); //dessin test
//affichage de la video
cv::imshow("Video", imGrayPrev);
}
}
///--------------HOG+Camshift + Kalman Filter--------------------------//
else if(algo == CAMSHIFT_KALMAN_FILTER)
{
//camshift
if(i%20 == 0 && roiCamShift.size() == 0)
{
roiHogDetected = hogDetection(sequence[i], hog);
refineROI(roiCamShift, detected, roiHogDetected);
//test
if(roiCamShift.size() != 0)
{
/*
roiCamShift[0].x += 30;
roiCamShift[0].width -= 60;
roiCamShift[0].y += 40;
roiCamShift[0].height -= 100;
*/
roiCamShift[0].x += roiCamShift[0].width/2;
roiCamShift[0].width = roiCamShift[0].width/3;
//roiCamShift[0].y += roiCamShift[0].height/2;
roiCamShift[0].height = roiCamShift[0].height/3;
}
//
}
backProj = computeProbImage(sequence[i], roiCamShift, hist, detected);
if (roiCamShift.size() != 0)
cv::imshow("temp", backProj[0]);
///-------Test-Camshift--------------------///
rectCamShift.resize(roiCamShift.size());
for(size_t j=0;j<roiCamShift.size();j++)
{
/*
std::cout<<roiCamShift[j]<<std::endl;
cv::rectangle(backProj[j], roiCamShift[j], cv::Scalar( 255, 0, 0), 2, 8, 0 ); //DEBUG
cv::imshow("before camshift", backProj[j]);
cv::waitKey(0);
*/
cv::Rect rectMeanShift;
rectMeanShift = roiCamShift[j];
cv::meanShift(backProj[j], rectMeanShift, cv::TermCriteria(cv::TermCriteria::EPS | cv::TermCriteria::COUNT, 10, 1));
cv::rectangle(sequence[i], rectMeanShift, cv::Scalar( 0, 255, 0), 2, 8, 0 );
rectCamShift[j] = cv::CamShift(backProj[j], roiCamShift[j], cv::TermCriteria(cv::TermCriteria::EPS | cv::TermCriteria::COUNT, 10, 1));
rectCamShift[j].points(rect_points);
for(int k = 0; k < 4; k++)
cv::line(sequence[i], rect_points[k], rect_points[(k+1)%4], cv::Scalar( 0, 0, 255), 2, 8);
}
///----------------------------------------///
//-----------------Representation----------------------------------//
//dessin du rectangle
for(size_t j=0;j<roiCamShift.size();j++)
cv::rectangle(sequence[i], roiCamShift[j], cv::Scalar( 255, 0, 0), 2, 8, 0 );
//affichage de la video
cv::imshow("Video", sequence[i]);
}
///------------------BACKGROUND-SUBSTRACTION---------------------------//
else if(algo == BACKGROUND_LK)
{
if(i%10 == 0) //égal 0 pour le test
{
backgroundSubstractionDetection(sequence[i], detectedPedestrianFiltered, pMOG2, tracking);
}
if(tracking == GOOD_FEATURES_TO_TRACK)
{
featuresDetected.resize(detectedPedestrianFiltered.size());
featuresDetected = featuresDetection(sequence[i], detectedPedestrianFiltered);
previousFeaturesDetected.resize(featuresDetected.size());
previousFeaturesDetected = featuresDetected;
tracking = LUCAS_KANADE;
KF.transitionMatrix.at<float>(0,0) = 1;
KF.transitionMatrix.at<float>(0,1) = 0;
KF.transitionMatrix.at<float>(0,2) = 1;
KF.transitionMatrix.at<float>(0,3) = 0;
KF.transitionMatrix.at<float>(1,0) = 0;
KF.transitionMatrix.at<float>(1,1) = 1;
KF.transitionMatrix.at<float>(1,2) = 0;
KF.transitionMatrix.at<float>(1,3) = 1;
KF.transitionMatrix.at<float>(2,0) = 0;
KF.transitionMatrix.at<float>(2,1) = 0;
KF.transitionMatrix.at<float>(2,2) = 1;
KF.transitionMatrix.at<float>(2,3) = 0;
KF.transitionMatrix.at<float>(3,0) = 0;
KF.transitionMatrix.at<float>(3,1) = 0;
KF.transitionMatrix.at<float>(3,2) = 0;
KF.transitionMatrix.at<float>(3,3) = 1;
measurement.setTo(cv::Scalar(0));
for(size_t j=0;j<featuresDetected.size();j++)
{
detectedPedestrianFiltered[j] = cv::boundingRect(featuresDetected[j]);
}
KF.statePre.at<float>(0) = rectCenter(detectedPedestrianFiltered[0]).x;
KF.statePre.at<float>(1) = rectCenter(detectedPedestrianFiltered[0]).y;
KF.statePre.at<float>(2) = 0;
KF.statePre.at<float>(3) = 0;
cv::setIdentity(KF.measurementMatrix);
cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-4));
cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-1));
cv::setIdentity(KF.errorCovPost, cv::Scalar::all(.1));
}
else if(tracking == LUCAS_KANADE)
{
for(size_t j=0;j<featuresDetected.size();j++)
{
detectedPedestrianFiltered[j] = cv::boundingRect(featuresDetected[j]);
}
featuresDetected = lucasKanadeTracking(previousSequence, sequence[i], previousFeaturesDetected);
previousFeaturesDetected.clear();
previousFeaturesDetected.resize(featuresDetected.size());
previousFeaturesDetected = featuresDetected;
prediction = KF.predict();
cv::Point predictPt(prediction.at<float>(0),prediction.at<float>(1));
// Get mouse point
measurement(0) = rectCenter(detectedPedestrianFiltered[0]).x;
measurement(1) = rectCenter(detectedPedestrianFiltered[0]).y;
cv::Point measPt(measurement(0),measurement(1));
// The "correct" phase that is going to use the predicted value and our measurement
cv::Mat estimated = KF.correct(measurement);
cv::Point statePt(estimated.at<float>(0),estimated.at<float>(1));
//cv::circle(sequence[i], measPt, 1, cv::Scalar(0,255,0), 7, 24);
//cv::circle(sequence[i], predictPt, 1, cv::Scalar(0,255,255), 7, 24);
}
//--------Representation--------------------
if(tracking != NOTHING_TO_TRACK)
findUpperBody(classifier, sequence[i], detectedPedestrianFiltered, rect_upper_body);
for(size_t j=0;j<featuresDetected.size();j++)
{
for(size_t k=0;k<rect_upper_body[j].size();k++)
{
cv::rectangle(sequence[i], rect_upper_body[j][k], cv::Scalar( 0, 255, 0), 2, 8, 0 );
}
//detectedPedestrianFiltered[j] = cv::boundingRect(featuresDetected[j]);
cv::rectangle(sequence[i], cv::boundingRect(featuresDetected[j]), cv::Scalar( 0, 0, 255), 2, 8, 0 );
}
//affichage de la video
cv::imshow("Video", sequence[i]);
}
else if(algo == BACKGROUND_KALMAN)
{
int refresh = 6;
if(i%refresh == 0)
{
backgroundSubstractionDetection(sequence[i], detectedPedestrianFiltered, pMOG2, tracking);
}
if(initKalman && detectedPedestrianFiltered.size() != 0)
{
Kalman.statePre.at<float>(0) = rectCenter(detectedPedestrianFiltered[0]).x;
Kalman.statePre.at<float>(1) = rectCenter(detectedPedestrianFiltered[0]).y;
Kalman.statePre.at<float>(2) = 0;
Kalman.statePre.at<float>(3) = 0;
initKalman = false;
}
if(detectedPedestrianFiltered.size() != 0)
{
predict = Kalman.predict();
cv::Point predictPt(predict.at<float>(0),predict.at<float>(1));
// The "correct" phase that is going to use the predicted value and our measurement
if(i%refresh == 0)
{
rectK = findROI(predictPt, detectedPedestrianFiltered);
if(!fusionRects(prevRectK, rectK))
{
cv::Point refPoint = rectCenter(rectK);
// Get center point
measurmt(0) = refPoint.x;
measurmt(1) = refPoint.y;
cv::Point measPt(measurmt(0),measurmt(1));
cv::Mat estim = Kalman.correct(measurmt);
cv::Point statePt(estim.at<float>(0),estim.at<float>(1));
}
prevRectK = rectK;
}
std::string str = std::to_string(sqrt(pow(Kalman.statePre.at<float>(2), 2)+pow(Kalman.statePre.at<float>(3), 2)));
//cv::circle(sequence[i], measPt, 1, cv::Scalar(0,255,0), 7, 24);
cv::circle(sequence[i], predictPt, 1, cv::Scalar(0,255,255), 7, 24);
cv::putText(sequence[i], str, predictPt, cv::FONT_HERSHEY_PLAIN, 1.0, CV_RGB(255,0,0), 2.0);
}
cv::imshow("Video", sequence[i]);
}
//------------------CLEAR-VARIABLES------------------------------------//
detectedPedestrian.clear();
featuresDetected.clear();
boxes.clear();
previousSequence.release();
flow.release();
imGray.release();
imGrayPrev.release();
roiHogDetected.clear();
backProj.clear();
//------------------CONDITIONS-ARRET-----------------------------------//
if (cv::waitKey((int)(1000/fps)) == 27) //wait for 'esc' key press for 30ms. If 'esc' key is pressed, break loop
{
std::cout << "esc key is pressed by user" << std::endl;
return 0;
}
}
cv::waitKey(0);
return 0;
}
QString SubtitleConverter::detectFormat(const QString &subtitleFile) const {
const QStringList &lines = readFile(subtitleFile, "UTF-8", 15);
return detectFormat(lines);
}
SpawnStatus spawn(const char *path, const char *args, const char *workdir, SecurityLevel secLvl, Pid requesterPid, Pid *outPid, File_t *outStdin, File_t *outStdout, File_t *outStderr, File_t inStdin, File_t inStdout, File_t inStderr)
{
// file of executable
File_t file;
// open input file
if (!findFile(path, &file))
{
klog("unable to open the file: %s, it doesn't exist on PATH directory", path);
return SPAWN_STATUS_IO_ERROR;
}
// detect format
BinaryFormat format = detectFormat(file);
if (format == BF_UNKNOWN)
{
klog("binary has an unknown format: %s", path);
return SPAWN_STATUS_FORMAT_ERROR;
}
// create empty target process
auto targetProc = CreateEmptyProcess(secLvl);
Pid targetPid = GetCreatedProcessID(targetProc);
// apply configuration
ProcessConfiguration configuration;
configuration.sourcePath = (char*) path;
ConfigureProcess(targetProc, configuration);
// create a loader
Loader *loader;
if (format == BF_ELF32) loader = new Elf32Loader(targetProc, file);
//else if (format == BF_ELF64) loader = new Elf64Loader(targetProc, file);
else
{
klog("no loader implementation for binary format %i", format);
return SPAWN_STATUS_FORMAT_ERROR;
}
// setup standard I/O
if (!setupStdio(targetPid, requesterPid, outStdin, outStdout, outStderr, inStdin, inStdout, inStderr)) klog("unable to setup stdio for process %i", targetPid);
// perform loading
uintptr_t entryAddress;
LoaderStatus ldrStat = loader->load(&entryAddress);
SpawnStatus spawnStat = SPAWN_STATUS_UNKNOWN;
if (ldrStat == LS_SUCCESSFUL)
{
// push command line arguments
writeCliArgs(targetProc, args);
// set working directory
SetWorkingDirectoryP(workdir, targetProc);
// attached loaded process
AttachCreatedProcess(targetProc, entryAddress);
// out-set process id
*outPid = targetPid;
spawnStat = SPAWN_STATUS_SUCCESSFUL;
}
else
{
// cancel creation & let kernel clean up
CancelProcessCreation(targetProc);
if (ldrStat == LS_IO_ERROR) spawnStat = SPAWN_STATUS_IO_ERROR;
else if (ldrStat == LS_FORMAT_ERROR) spawnStat = SPAWN_STATUS_FORMAT_ERROR;
else if (ldrStat == LS_MEMORY_ERROR) spawnStat = SPAWN_STATUS_MEMORY_ERROR;
else
{
klog("loader return unknown status on failure %i", ldrStat);
spawnStat = SPAWN_STATUS_UNKNOWN;
}
}
// Close binary file
Close(file);
return spawnStat;
}
