static void *
osTryReserveHeapMemory (W_ len, void *hint)
{
void *base, *top;
void *start, *end;
/* We try to allocate len + MBLOCK_SIZE,
because we need memory which is MBLOCK_SIZE aligned,
and then we discard what we don't need */
base = my_mmap(hint, len + MBLOCK_SIZE, MEM_RESERVE);
top = (void*)((W_)base + len + MBLOCK_SIZE);
if (((W_)base & MBLOCK_MASK) != 0) {
start = MBLOCK_ROUND_UP(base);
end = MBLOCK_ROUND_DOWN(top);
ASSERT(((W_)end - (W_)start) == len);
if (munmap(base, (W_)start-(W_)base) < 0) {
sysErrorBelch("unable to release slop before heap");
}
if (munmap(end, (W_)top-(W_)end) < 0) {
sysErrorBelch("unable to release slop after heap");
}
} else {
start = base;
}
return start;
}
Heap_t*
Heap_Alloc(int MinSize, int MaxSize)
{
static int heap_count = 0;
Heap_t *res = &(Heaps[heap_count++]);
int maxsize_pageround = RoundUp(MaxSize,TILT_PAGESIZE);
res->size = maxsize_pageround;
res->bottom = (mem_t) my_mmap(maxsize_pageround,
PROT_READ | PROT_WRITE);
res->cursor = res->bottom;
res->top = res->bottom + MinSize / (sizeof (val_t));
res->writeableTop = res->bottom +
maxsize_pageround / (sizeof (val_t));
res->mappedTop = res->writeableTop;
SetRange(&(res->range), res->bottom, res->mappedTop);
res->valid = 1;
res->bitmap = paranoid ? CreateBitmap(maxsize_pageround / 4) : NULL;
res->freshPages = (int *)emalloc(
DivideUp(maxsize_pageround / TILT_PAGESIZE, 32) * sizeof(int));
memset((int *)res->freshPages, 0,
DivideUp(maxsize_pageround / TILT_PAGESIZE, 32) * sizeof(int));
assert(res->bottom != (mem_t) -1);
assert(heap_count < NumHeap);
assert(MaxSize >= MinSize);
/*
Try to lock down pages and force page-table to be initialized;
otherwise, PadHeapArea can often take 0.1 - 0.2 ms. Even with
this, there are occasional (but far fewer) page table misses.
*/
if (geteuid() == 0)
(void)mlock((caddr_t) res->bottom, maxsize_pageround);
return res;
}
void *
osGetMBlocks(nat n)
{
caddr_t ret;
W_ size = MBLOCK_SIZE * (W_)n;
if (next_request == 0) {
// use gen_map_mblocks the first time.
ret = gen_map_mblocks(size);
} else {
ret = my_mmap(next_request, size, MEM_RESERVE_AND_COMMIT);
if (((W_)ret & MBLOCK_MASK) != 0) {
// misaligned block!
#if 0 // defined(DEBUG)
errorBelch("warning: getMBlock: misaligned block %p returned "
"when allocating %d megablock(s) at %p",
ret, n, next_request);
#endif
// unmap this block...
if (munmap(ret, size) == -1) {
barf("getMBlock: munmap failed");
}
// and do it the hard way
ret = gen_map_mblocks(size);
}
}
// Next time, we'll try to allocate right after the block we just got.
// ToDo: check that we haven't already grabbed the memory at next_request
next_request = ret + size;
return ret;
}
static Stacklet_t*
Stacklet_Alloc(StackChain_t* stackChain)
{
int i;
Stacklet_t *res = NULL;
/*
Each stacklet contains the primary and replica. Each one
starts with a guard page, a C area, and then an ML area.
*/
int size = (GuardStackletSize + MLStackletSize + CStackletSize) * kilobyte; /* for just one of the two: primary and replica */
assert(stackletOffset == size);
for (i=0; i<NumStacklet; i++)
if (CompareAndSwap(&Stacklets[i].count, 0, 1) == 0) {
res = &Stacklets[i];
break;
}
if (res == NULL)
DIE("out of stack space");
res->parent = stackChain;
res->state = Inconsistent;
if (!res->mapped) {
mem_t start = my_mmap(2 * size, PROT_READ | PROT_WRITE);
mem_t middle = start + size / (sizeof (val_t));
res->baseExtendedBottom = start +
(GuardStackletSize * kilobyte) / (sizeof (val_t));
res->baseBottom = res->baseExtendedBottom +
(CStackletSize * kilobyte) / (sizeof (val_t));
res->baseTop = res->baseBottom +
(MLStackletSize * kilobyte) / (sizeof (val_t));
assert(res->baseTop == middle);
/*
Get some initial room in multiples of 64 bytes; Sparc
requires at least 68 byte for the save area.
*/
res->baseTop -= (128 / sizeof(val_t));
my_mprotect(0, (caddr_t) start, GuardStackletSize * kilobyte,
PROT_NONE); /* Guard page at bottom of primary */
my_mprotect(1, (caddr_t) middle, GuardStackletSize * kilobyte,
PROT_NONE); /* Guard page at bottom of replica */
res->callinfoStack = SetCreate(size / (32 * sizeof (val_t)));
res->mapped = 1;
}
res->baseCursor = res->baseTop;
for (i=0; i<32; i++)
res->bottomBaseRegs[i] = 0;
SetReset(res->callinfoStack);
return res;
}
static void *
gen_map_mblocks (W_ size)
{
int slop;
StgWord8 *ret;
// Try to map a larger block, and take the aligned portion from
// it (unmap the rest).
size += MBLOCK_SIZE;
ret = my_mmap(0, size, MEM_RESERVE_AND_COMMIT);
// unmap the slop bits around the chunk we allocated
slop = (W_)ret & MBLOCK_MASK;
if (munmap((void*)ret, MBLOCK_SIZE - slop) == -1) {
barf("gen_map_mblocks: munmap failed");
}
if (slop > 0 && munmap((void*)(ret+size-slop), slop) == -1) {
barf("gen_map_mblocks: munmap failed");
}
// ToDo: if we happened to get an aligned block, then don't
// unmap the excess, just use it. For this to work, you
// need to keep in mind the following:
// * Calling my_mmap() with an 'addr' arg pointing to
// already my_mmap()ed space is OK and won't fail.
// * If my_mmap() can't satisfy the request at the
// given 'next_request' address in getMBlocks(), that
// you unmap the extra mblock mmap()ed here (or simply
// satisfy yourself that the slop introduced isn't worth
// salvaging.)
//
// next time, try after the block we just got.
ret += MBLOCK_SIZE - slop;
return ret;
}
int main(int argc, char** argv)
{
if(argc == 2) {
strcpy(my_video_dev, argv[1]);
} else {
strcpy(my_video_dev, "/dev/video0");
}
//if (-1 == (fd = open(my_video_dev, O_RDWR))) {
if (-1 == (fd = v4l1_open(my_video_dev, O_RDWR))) {
printf("Error opening device: %s\n", my_video_dev);
goto error;
}
//if( -1 == ioctl(fd, VIDIOC_QUERYCAP, &v4l2_capability) ) {
if( ioctl(fd, VIDIOC_QUERYCAP, &v4l2_capability) < 0 ) {
printf("asd 1\n");
if( -1 == ioctl(fd, VIDIOCGCAP, &capability) ) {
printf("asd 2\n");
printf("Error1: ioctl(fd,VIDIOCGCAP,&capability)\n");
camDriver = DRIVER_NONE;
goto error;
} else {
printf("asd 3\n");
camDriver = DRIVER_V4L;
}
} else {
printf("asd 4\n");
camDriver = DRIVER_V4L2;
v4l1_close(fd);
fd = v4l1_open(my_video_dev, O_RDWR);
if( -1 == my_ioctl(VIDIOCGCAP, &capability)) {
printf("asd 5\n");
printf("Error2: ioctl(fd,VIDIOCGCAP,&capability)\n");
goto error;
}
}
// if( DRIVER_V4L == camDriver ) {
printf("\n -----[ VIDIOCGCAP returns ]-----\n");
printf(" name: %s\n", capability.name);
printf(" type: %i\n", capability.type);
printf(" channels: %i\n", capability.channels);
printf(" audios: %i\n", capability.audios);
printf(" maxwidth: %i\n", capability.maxwidth);
printf(" maxheight: %i\n", capability.maxheight);
printf(" minwidth: %i\n", capability.minwidth);
printf(" minheight: %i\n", capability.minheight);
// }
if (-1 == my_ioctl(VIDIOCGPICT,&picture)) {
printf("Error: ioctl(fd,VIDIOCGCPICT,&picture)\n");
goto error;
}
printf("\n -----[ VIDIOCGPICT returns ]-----\n");
printf(" brightness: %i\n", picture.brightness);
printf(" hue: %i\n", picture.hue);
printf(" colour: %i\n", picture.colour);
printf(" contrast: %i\n", picture.contrast);
printf(" whiteness: %i\n", picture.whiteness);
printf(" depth: %i\n", picture.depth);
char static palet_tipi_str[64];
palette_name(palet_tipi_str, picture.palette);
printf(" palette: %s\n\n", palet_tipi_str);
vch.channel = 0;
// vch.norm = VIDEO_MODE_PAL;
if(-1 == my_ioctl(VIDIOCSCHAN,&vch)) {
perror("Setting channel\n");
goto error;
}
fcntl(fd,F_SETFD,FD_CLOEXEC);
if (-1 == my_ioctl(VIDIOCGMBUF,&gb_buffers)) {
printf("Error: Error getting buffers\n");
goto error;
}
map = my_mmap(0,gb_buffers.size,PROT_READ|PROT_WRITE,MAP_SHARED,fd,0);
if (map == NULL) {
printf("Error: Mmap returned NULL\n");
goto error;
}
// Set up out capture to use the correct resolution
my_buf.width = mywidth;
my_buf.height = myheight;
my_buf.format = VIDEO_PALETTE_RGB24;
// Set up out video output
SDL_Init(SDL_INIT_VIDEO);
screen = SDL_SetVideoMode(mywidth, myheight, 24, SDL_SWSURFACE);
if ( screen == NULL ) {
fprintf(stderr, "Couldn't set video mode: %s\n",
SDL_GetError());
exit(1);
}
SDL_WM_SetCaption("Oy oy oy teve pirogrami", NULL);
// Tell the capture card to fill frame 0
my_buf.frame = 0;
if (-1 == my_ioctl(VIDIOCMCAPTURE, &my_buf)) {
printf(" ilk my_buf.frame=0 da hata olustu\n");
// printf("Error: Grabber chip can't sync (no station tuned in?)\n");
goto error;
}
// This is the infinate loop
// We basically:
// capture frame 1
// sync frame 0
// process frame 0
// capture frame 0
// sync frame 1
// process frame 1
// For more information, read the programming how-to that came with xawtv
do {
my_buf.frame = 1;
if (-1 == my_ioctl(VIDIOCMCAPTURE, &my_buf)) {
printf(" loop icinde frame=1 \n");
// printf("Error: Grabber chip can't sync (no station tuned in?)\n");
goto error;
}
my_buf.frame = 0;
if (-1 == my_ioctl(VIDIOCSYNC, &my_buf.frame)) {
printf("Error on sync!\n");
goto error;
}
copytoscreen(map);
my_buf.frame = 0;
if (-1 == my_ioctl(VIDIOCMCAPTURE, &my_buf)) {
printf(" loop icinde frame=0 \n");
// printf("Error: Grabber chip can't sync (no station tuned in?)\n");
goto error;
}
my_buf.frame = 1;
if (-1 == my_ioctl(VIDIOCSYNC, &my_buf.frame)) {
printf("Error on sync!\n");
goto error;
}
copytoscreen(map + gb_buffers.offsets[1]);
SDL_PollEvent(&event);
} while (event.type != SDL_KEYDOWN);
error:
SDL_Quit();
return EXIT_SUCCESS;
}
void osCommitMemory(void *at, W_ size)
{
my_mmap(at, size, MEM_COMMIT);
}
// ================================================= MAIN ==============================================
int main(int argc, char* argv[])
{
// ========================================== Parameters ===========================================
bool verbose = false;
bool drawM = false;
bool ram_db = true;
bool load_k = false;
std::string filename_db = ":memory:";
const char* filename_calib;
const char* inputFilename_rgb;
const char* outputFilename;
std::vector< std::string > imageList_rgb;
// ========================================== Check parameters ==========================================
if( argc < 2 )
{
help();
return 0;
}
else
{
for(int i = 1; i < argc; i++ )
{
const char* s = argv[i];
if( strcmp( s, "-i" ) == 0 )
{
i++;
inputFilename_rgb = argv[i];
}
else if( strcmp( s, "-db" ) == 0 )
{
i++;
filename_db = argv[i];
ram_db = false;
}
else if( strcmp( s, "-k" ) == 0 )
{
i++;
filename_calib = argv[i];
load_k = true;
}
else if( strcmp( s, "-o" ) == 0 )
{
i++;
outputFilename = argv[i];
}
else if( strcmp( s, "-v" ) == 0 )
{
verbose = true;
}
else if( strcmp( s, "-m" ) == 0 )
{
drawM = true;
}
else
{
help();
return fprintf( stderr, "Unknown option %s\n", s ), -1;
}
}
}
if (verbose) cout << "\nParameters read...\t\t[OK]" << '\n';
if (verbose) cout << "Data init...\t\t\t";
// ========================================== Varible declaration ==========================================
int num_features;
int num_cameras;
timer_wall timer1;
std::vector< cv::Mat > images, images_depth;//, images_matches;
// ====================================================================================================
// ========================================== Start execution =========================================
// ====================================================================================================
// ========================================== Read Images ==========================================
if (verbose)
{
std::cout << "[OK]" << '\n'; // DATA initialization OK
std::cout << "Reading Files:\t" << inputFilename_rgb << "\n";
std::cout << "File list...\t\t\t";
}
importXMLImageList(inputFilename_rgb, imageList_rgb); //Reading list of images from XML list
if (verbose)
{
std::cout << "[OK]\n";
std::cout << "Loading Images...\t\t";
}
for (int i = 0; i < (int)imageList_rgb.size(); i++ ) //Store all images in std::vector<cv::Mat>
{
images.push_back( cv::imread(imageList_rgb[i], 1) );
}
if (verbose)
{
std::cout << "[OK]\n";
std::cout << "Number of Images: " << images.size() << "\n";
printf("Size of Images: \tWidth: %i || Height: %i\n", images[0].size().width, images[0].size().height);
}
// ======================================== END Read Images ========================================
Eigen::Matrix3d K;
if (load_k) // If Calibration matrix is taken from txt file
{
Eigen::MatrixXd K_load;
importTXTEigen(filename_calib, K_load);
K << K_load;
}
else
{
double wimg = images[0].size().width;
double himg = images[0].size().height;
double f = 1000.0;
K << f, 0.0, wimg/2, 0.0, f, himg/2, 0.0, 0.0, 1.0; // Camera Matrix (intrinsics)
}
if (verbose) std::cout << "\nCalibration Matrix:\n" << K << "\n";
HandleDB mydb( (char*)filename_db.c_str() );
mydb.openDB();
if ( ram_db ) // If database is in ram, create table and index
{
mydb.createFeaturesTable();
mydb.createIndex1();
}
if (!mydb.isOpen()) exit(0);
if ( ram_db ) // If database is in ram, solve features map and store in db
{
boost::shared_ptr< SiftED > myfeat( new SiftED(&imageList_rgb) );
myfeat->solveSift();
// myfeat->loadImages();
if( drawM ) myfeat->enableKeyPoint();
boost::shared_ptr< MatchesMap > my_mmap( new MatchesMap(500,35) );
my_mmap->solveMatches(myfeat->getDescriptorsGPU());
my_mmap->robustifyMatches(myfeat->getKeypointsGPU());
timer1.start();
my_mmap->solveDB( &mydb, myfeat->getKeypointsGPU() );
std::cout << "Elapsed time to solve DB: " << timer1.elapsed_s() << " [s]\n";
// my_mmap.txt((char*)"./match.txt", myfeat->getKeypointsGPU());
if( drawM ) my_mmap->plot( &images, myfeat->getKeypointsSet() );
}
boost::shared_ptr< FeaturesMap > featM (new FeaturesMap());
featM->solveVisibility( &mydb );
printf("Visibility Matrix [%d x %d]\n",featM->getVisibility()->rows(),featM->getVisibility()->cols());
num_cameras = featM->getNumberCameras();
num_features = featM->getNumberFeatures();
mydb.closeDB();
// SfM sfm01( num_cameras, num_features, K );
// // sfm01.solvePose( &my_mmap.globalMatch, &myfeat.set_of_keypoints);
// sfm01.solvePose( (featM->getVisibility()).get(), (featM->getCoordinates()).get() );
// sfm01.solveStructure( (featM->getVisibility()).get(), (featM->getCoordinates()).get() );
// std::cout << "Structure =\n" << sfm01.Structure.transpose() << "\n";
// ========================================== Optimization ==========================================
// double intrinsics[4] = { K(0,0), K(1,1), K(0,2), K(1,2) };
// std::vector< double > intrinsics_param(&intrinsics[0], &intrinsics[4]);
double distcoeff[5] = {2.5552679187075661e-01, -5.8740292343503686e-01, -3.0863014649845459e-04, 1.9066445284294834e-03, 5.1108649981093257e-01};
std::vector< double > coefficients(&distcoeff[0], &distcoeff[5]);
// std::vector< double > coefficients(5,0.0);/// active for dinosaur
/*
GlobalOptimizerSfM opt01;
opt01.setParameters( (featM->getVisibility()).get(), (featM->getCoordinates()).get(), &sfm01.Quat_cumulative, &sfm01.tr_global, &sfm01.Structure );
opt01.setIntrinsics( &K );
opt01.setDistortion( &coefficients );
opt01.runBA();// argv[0] );// bundle adjustment to all data
// FINAL DATA PRINTING ***************************
sfm01.updateCamera();
// std::cout << "Recover structure matrix:\n" << sfm01.Structure.transpose() << "\n";
writePMVS("./pmvs", imageList_rgb, sfm01.Cameras_RCV, K, coefficients);
*/
timer1.start();
IncrementalBA opt01( (featM->getVisibility()).get(), (featM->getCoordinates()).get() );
opt01.setIntrinsics( K );
opt01.setDistortion( &coefficients );
opt01.runC();
GlobalOptimizerSfM opt03;
opt03.setParameters( (featM->getVisibility()).get(), (featM->getCoordinates()).get(), &opt01.quaternion, &opt01.translation, &opt01.structure );
opt03.setIntrinsics( &K );
opt03.setDistortion( &coefficients );
opt03.runBA();// argv[0] );// bundle adjustment to all data
std::cout << "Incrementel BA time: "<< timer1.elapsed_s() << " [s]\n";
opt01.updateCamera();
std::vector< Eigen::Matrix3d > Rotation(opt01.quaternion.size());
for (register int i = 0; i < Rotation.size(); ++i) Rotation[i] = opt01.quaternion[i].toRotationMatrix();
exportPMVS("./pmvs", imageList_rgb, opt01.Camera, K, coefficients);
// ========================================== END Optimization ==========================================
// plot TESTING
// int max_WP = sfm01.plotSt.maxCoeff();
// std::cout << "maximum in plot WP = " << max_WP << "\n";
// std::cout << "plotSt = " << sfm01.plotSt.transpose() << "\n";
// std::vector< std::vector<cv::Point3d> > WP(max_WP+1);
// std::vector<cv::Point3d> x3plot;
// for (int cam = 0; cam < max_WP+1; cam++)
// {
// x3plot.clear();
// for (int ft = 0; ft < num_features; ft++)
// {
// if (cam == sfm01.plotSt(ft))
// {
// x3plot.push_back( cv::Point3d(sfm01.Structure(0,ft),sfm01.Structure(1,ft),sfm01.Structure(2,ft)) );
// }
// }
// std::cout << "x3plot size = " << x3plot.size() << "\n";
// std::cout << "cam = " << cam << "\n";
// WP[cam] = x3plot;
// }
// end plot TESTING
// Plot for IncrementalBA structure in one vector (Global)
std::vector< std::vector<cv::Point3d> > WP;
std::vector<cv::Point3d> pts;
eigen2point3_vector( opt01.structure , pts );
WP.push_back(pts);
// sfm data
PlotGL::viewer.setRotation( &Rotation );
PlotGL::viewer.setTranslation( &opt01.translation );
PlotGL::viewer.setStructure( &WP );
// PlotGL::viewer.setColor( &Color );
// PLOT for sfm object structure in one vector (Global)
// std::vector< std::vector<cv::Point3d> > WP;
// std::vector<cv::Point3d> pts;
// eigen2point3_vector( sfm01.Structure , pts );
// WP.push_back(pts);
//
// // sfm data
// PlotGL::viewer.setRotation( &sfm01.Rot_global );
// PlotGL::viewer.setTranslation( &sfm01.tr_global );
// PlotGL::viewer.setStructure( &WP );
// // PlotGL::viewer.setColor( &Color );
PlotGL::viewer.run(argc, argv, !ram_db); // false);
exit(0);
}
// ================================================= MAIN ==============================================
int main(int argc, char* argv[])
{
// ========================================== Parameters ===========================================
bool ram_db = true;
bool verbose = false;
bool drawM = false;
bool load_k = false;
bool save_ply = false;
const char* filename_calib;
const char* inputFilename_rgb;
const char* inputFilename_depth;
const char* outputFilename;
std::string filename_db = ":memory:";
std::vector< std::string > imageList_rgb;
std::vector< std::string > imageList_depth;
// ========================================== Check parameters ==========================================
if( argc < 2 )
{
help(argv[0]);
return 0;
}
else
{
for(int i = 1; i < argc; i++ )
{
const char* s = argv[i];
if( strcmp( s, "-i" ) == 0 )
{
i++;
inputFilename_rgb = argv[i];
}
else if( strcmp( s, "-d" ) == 0 )
{
i++;
inputFilename_depth = argv[i];
}
else if( strcmp( s, "-o" ) == 0 )
{
i++;
outputFilename = argv[i];
save_ply = true;
}
else if( strcmp( s, "-db" ) == 0 )
{
i++;
filename_db = argv[i];
ram_db = false;
}
else if( strcmp( s, "-k" ) == 0 )
{
i++;
filename_calib = argv[i];
load_k = true;
}
else if( strcmp( s, "-v" ) == 0 )
{
verbose = true;
}
else if( strcmp( s, "-m" ) == 0 )
{
drawM = true;
}
else
{
help(argv[0]);
return fprintf( stderr, "Unknown option %s\n", s ), -1;
}
}
}
if (verbose) cout << "Parameters read...\t\t[OK]" << '\n';
if (verbose) cout << "Data init...\t\t\t";
// ========================================== Varible declaration ==========================================
int num_goodmatch = 35;
int num_features;
int num_cameras;
timer_wall timer1;
std::vector< cv::Mat > images, images_depth;//, images_matches;
typedef std::vector< Eigen::Quaternion<double> > Qd_vector;
typedef std::vector< Eigen::Vector3d > V3d_vector;
boost::shared_ptr< Qd_vector > Qn_global;
boost::shared_ptr< V3d_vector > tr_global;
// ========================================== Read Images ==========================================
if (verbose)
{
std::cout << "[OK]" << '\n'; // DATA initialization OK
std::cout << "Reading Files:\t" << inputFilename_rgb << " & " << inputFilename_depth << '\n';
std::cout << "File list...\t\t\t";
}
importXMLImageList(inputFilename_rgb, imageList_rgb); //Reading list of images from XML list
importXMLImageList(inputFilename_depth, imageList_depth);
if (verbose)
{
std::cout << "[OK]\n";
std::cout << "Loading Images...\t\t";
}
for (int i = 0; i < (int)imageList_rgb.size(); i++ ) //Store all images in std::vector<cv::Mat>
{
images.push_back( cv::imread(imageList_rgb[i], 1) );
images_depth.push_back( cv::imread(imageList_depth[i], -1) );
}
if (verbose)
{
std::cout << "[OK]\n";
std::cout << "Number of Images: " << images.size() << "\n";
printf("Size of Images: \tWidth: %i\t||\t Height: %i\n", images[0].size().width, images[0].size().height);
std::cout << "\nDetection and Descriptor...\t";
}
// ======================================== END Read Images ========================================
Eigen::Matrix3d K;
if (load_k) // If Calibration matrix is taken from txt file
{
Eigen::MatrixXd K_load;
importTXTEigen(filename_calib, K_load);
K << K_load;
}
else
{
double wimg = images[0].size().width - 1.0;
double himg = images[0].size().height - 1.0;
double f = 520.0;
K << f, 0.0, wimg/2, 0.0, f, himg/2, 0.0, 0.0, 1.0; // Camera Matrix (intrinsics)
}
if (verbose) std::cout << "\nCalibration Matrix:\n" << K << "\n";
// ====================================================================================================
// ========================================== Start execution =========================================
// ====================================================================================================
HandleDB mydb( (char*)filename_db.c_str() );
mydb.openDB();
if ( ram_db ) // If database is in ram, create table and index
{
mydb.createFeaturesTable();
mydb.createIndex1();
}
if (!mydb.isOpen()) exit(0);
if ( ram_db ) // If database is in ram, solve features map and store in db
{
boost::shared_ptr< SiftED > myfeat( new SiftED(&imageList_rgb) );
myfeat->solveSift();
// myfeat->loadImages();
if( drawM ) myfeat->enableKeyPoint();
boost::shared_ptr< MatchesMap > my_mmap( new MatchesMap(500,35) );
my_mmap->solveMatches(myfeat->getDescriptorsGPU());
my_mmap->robustifyMatches(myfeat->getKeypointsGPU());
my_mmap->depthFilter(myfeat->getKeypointsGPU(), &imageList_depth, 3);
timer1.start();
my_mmap->solveDB( &mydb, myfeat->getKeypointsGPU() );
DEBUG_1( std::cout << "Elapsed time to solve DB: " << timer1.elapsed_s() << " [s]\n"; )
// my_mmap.txt((char*)"./match.txt", &myfeat.keypointsGPU);
if( drawM ) my_mmap->plot( &images, myfeat->getKeypointsSet() );
}
/*
* Open an ELF file and load it into memory.
*/
static Elf32_Addr load_elf_file(const char *filename,
size_t pagesize,
Elf32_Addr *out_base,
Elf32_Addr *out_phdr,
Elf32_Addr *out_phnum,
const char **out_interp) {
int fd = open_program(filename);
if (fd < 0) {
fprintf(stderr, "Cannot open %s: %s\n", filename, strerror(errno));
exit(2);
}
uintptr_t pread_pos = 0;
Elf32_Ehdr ehdr;
my_pread(filename, "Failed to read ELF header from file! ",
fd, &ehdr, sizeof(ehdr), 0, &pread_pos);
if (memcmp(ehdr.e_ident, ELFMAG, SELFMAG) != 0 ||
ehdr.e_version != EV_CURRENT ||
ehdr.e_ehsize != sizeof(ehdr) ||
ehdr.e_phentsize != sizeof(Elf32_Phdr)) {
fprintf(stderr, "%s has no valid ELF header!\n", filename);
exit(1);
}
switch (ehdr.e_machine) {
#if defined(__i386__)
case EM_386:
#elif defined(__x86_64__)
case EM_X86_64:
#elif defined(__arm__)
case EM_ARM:
#elif defined(__mips__)
case EM_MIPS:
#else
# error "Don't know the e_machine value for this architecture!"
#endif
break;
default:
fprintf(stderr,
"%s: ELF file has wrong architecture (e_machine=%u)\n",
filename, ehdr.e_machine);
exit(1);
}
Elf32_Phdr phdr[MAX_PHNUM];
if (ehdr.e_phnum > sizeof(phdr) / sizeof(phdr[0]) || ehdr.e_phnum < 1) {
fprintf(stderr, "%s: ELF file has unreasonable e_phnum=%u\n",
filename, ehdr.e_phnum);
exit(1);
}
bool anywhere;
switch (ehdr.e_type) {
case ET_EXEC:
anywhere = false;
break;
case ET_DYN:
anywhere = true;
break;
default:
fprintf(stderr, "%s: ELF file has unexpected e_type=%u\n",
filename, ehdr.e_type);
exit(1);
}
my_pread(filename, "Failed to read program headers from ELF file! ",
fd, phdr, sizeof(phdr[0]) * ehdr.e_phnum, ehdr.e_phoff, &pread_pos);
size_t i = 0;
while (i < ehdr.e_phnum && phdr[i].p_type != PT_LOAD)
++i;
if (i == ehdr.e_phnum) {
fprintf(stderr, "%s: ELF file has no PT_LOAD header!", filename);
exit(1);
}
/*
* ELF requires that PT_LOAD segments be in ascending order of p_vaddr.
* Find the last one to calculate the whole address span of the image.
*/
const Elf32_Phdr *first_load = &phdr[i];
const Elf32_Phdr *last_load = &phdr[ehdr.e_phnum - 1];
while (last_load > first_load && last_load->p_type != PT_LOAD)
--last_load;
/*
* For NaCl, the first load segment must always be the code segment.
*/
if (first_load->p_flags != (PF_R | PF_X)) {
fprintf(stderr, "%s: First PT_LOAD has p_flags=%#x (expecting RX=%#x)\n",
filename, first_load->p_flags, PF_R | PF_X);
exit(1);
}
if (first_load->p_filesz != first_load->p_memsz) {
fprintf(stderr, "%s: Code segment has p_filesz %u != p_memsz %u\n",
filename, first_load->p_filesz, first_load->p_memsz);
exit(1);
}
/*
* Decide where to load the image and reserve the portions of the address
* space where it will reside.
*/
Elf32_Addr load_bias = choose_load_bias(filename, pagesize,
first_load, last_load, anywhere);
DEBUG_PRINTF("XXX load_bias (%s) %#x\n",
anywhere ? "anywhere" : "fixed",
load_bias);
/*
* Map the code segment in.
*/
my_mmap(filename, "code segment", first_load - phdr,
load_bias + round_down(first_load->p_vaddr, pagesize),
first_load->p_memsz, prot_from_phdr(first_load),
MAP_PRIVATE | MAP_FIXED, fd,
round_down(first_load->p_offset, pagesize));
Elf32_Addr last_end = first_load->p_vaddr + load_bias + first_load->p_memsz;
Elf32_Addr last_page_end = round_up(last_end, pagesize);
/*
* Map the remaining segments, and protect any holes between them.
* The large hole after the code segment does not need to be
* protected (and cannot be). It covers the whole large tail of the
* dynamic text area, which cannot be touched by mprotect.
*/
const Elf32_Phdr *ph;
for (ph = first_load + 1; ph <= last_load; ++ph) {
if (ph->p_type == PT_LOAD) {
Elf32_Addr start = round_down(ph->p_vaddr + load_bias, pagesize);
if (start > last_page_end && ph > first_load + 1) {
if (mprotect((void *) last_page_end, start - last_page_end,
PROT_NONE) != 0) {
fprintf(stderr, "%s: Failed to mprotect segment %u hole! (%s)\n",
filename, ph - phdr, strerror(errno));
exit(1);
}
}
last_end = ph->p_vaddr + load_bias + ph->p_memsz;
last_page_end = round_up(last_end, pagesize);
Elf32_Addr map_end = last_page_end;
/*
* Unlike POSIX mmap, NaCl's mmap does not reliably handle COW
* faults in the remainder of the final partial page. So to get
* the expected behavior for the unaligned boundary between data
* and bss, it's necessary to allocate the final partial page of
* data as anonymous memory rather than mapping it from the file.
*/
Elf32_Addr file_end = ph->p_vaddr + load_bias + ph->p_filesz;
if (ph->p_memsz > ph->p_filesz)
map_end = round_down(file_end, pagesize);
if (map_end > start) {
my_mmap(filename, "segment", ph - phdr,
start, map_end - start,
prot_from_phdr(ph), MAP_PRIVATE | MAP_FIXED, fd,
round_down(ph->p_offset, pagesize));
}
if (map_end < last_page_end) {
/*
* Handle the "bss" portion of a segment, where the memory size
* exceeds the file size and we zero-fill the difference. We map
* anonymous pages for all the pages containing bss space. Then,
* if there is any partial-page tail of the file data, we read that
* into the first such page.
*
* This scenario is invalid for an unwritable segment.
*/
if ((ph->p_flags & PF_W) == 0) {
fprintf(stderr,
"%s: Segment %u has p_memsz %u > p_filesz %u but no PF_W!\n",
filename, ph - phdr, ph->p_memsz, ph->p_filesz);
exit(1);
}
my_mmap(filename, "bss segment", ph - phdr,
map_end, last_page_end - map_end, prot_from_phdr(ph),
MAP_ANON | MAP_PRIVATE | MAP_FIXED, -1, 0);
if (file_end > map_end) {
/*
* There is a partial page of data to read in.
*/
my_pread(filename, "Failed to read final partial page of data! ",
fd, (void *) map_end, file_end - map_end,
round_down(ph->p_offset + ph->p_filesz, pagesize),
&pread_pos);
}
}
}
}
/*
* We've finished with the file now.
*/
close(fd);
/*
* Find the PT_INTERP header, if there is one.
*/
const Elf32_Phdr *interp = NULL;
if (out_interp != NULL) {
for (i = 0; i < ehdr.e_phnum; ++i) {
if (phdr[i].p_type == PT_INTERP) {
interp = &phdr[i];
break;
}
}
}
/*
* Find the PT_LOAD segments containing the PT_INTERP data and the phdrs.
*/
for (ph = first_load;
ph <= last_load && (interp != NULL || out_phdr != NULL);
++ph) {
if (interp != NULL &&
segment_contains(ph, interp->p_offset, interp->p_filesz)) {
*out_interp = (const char *) (interp->p_vaddr + load_bias);
interp = NULL;
}
if (out_phdr != NULL &&
segment_contains(ph, ehdr.e_phoff, ehdr.e_phnum * sizeof(phdr[0]))) {
*out_phdr = ehdr.e_phoff - ph->p_offset + ph->p_vaddr + load_bias;
out_phdr = NULL;
}
}
if (interp != NULL) {
fprintf(stderr, "%s: PT_INTERP not within any PT_LOAD segment\n",
filename);
exit(1);
}
if (out_phdr != NULL) {
*out_phdr = 0;
fprintf(stderr,
"Warning: %s: ELF program headers not within any PT_LOAD segment\n",
filename);
}
if (out_phnum != NULL)
*out_phnum = ehdr.e_phnum;
if (out_base != NULL)
*out_base = load_bias;
return ehdr.e_entry + load_bias;
}
