static int
Velodyne_init(Velodyne *self, PyObject *args, PyObject *kwds)
{
PyObject *images;
char* poster_name;
if (!PyArg_ParseTuple(args, "snnn", &poster_name, &(self->width), &(self->height), &(self->nb_rot)))
return -1;
size_t poster_size = sizeof(velodyne3DImage);
STATUS s = posterCreate (poster_name, poster_size, &self->id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
return -1;
}
printf("Succesfully created poster %s of size %zd\n", poster_name, poster_size);
self->size = self->width * self->height;
self->img.width = VELODYNE_3D_IMAGE_WIDTH;
self->img.maxScanWidth = VELODYNE_3D_IMAGE_WIDTH;
self->img.height = (int)(ceil)(self->size * self->nb_rot / VELODYNE_3D_IMAGE_WIDTH);
self->current_rot = 0;
return 0;
}
int
main(int argc, char *argv[])
{
POSTER_ID p1, p2, p3;
if (h2initGlob(0) == ERROR) {
h2perror("h2initGlob");
exit(2);
}
if (posterCreate(TEST_POSTER_NAME, TEST_POSTER_SIZE, &p1) == ERROR){
h2perror("posterCreate");
exit(2);
}
if (posterFind(TEST_POSTER_NAME, &p2) == ERROR) {
h2perror("posterFind");
exit(2);
}
if (posterDelete(p1) == ERROR) {
h2perror("posterDelete");
exit(2);
}
if (posterFind(TEST_POSTER_NAME, &p3) == OK) {
fprintf(stderr, "posterFind on a closed poster succeded!\n");
exit(3);
}
exit(0);
}
POSTER_ID init_data (const char* poster_name, const char* reference_frame,
float confidence, int* ok)
{
POSTER_ID id;
STATUS s = posterCreate (poster_name, sizeof(POM_ME_POS), &id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n", poster_name, buf);
*ok = 0;
return (NULL);
}
printf ("INIT ID = %p (pointer)\n", id);
ref_name = strdup(reference_frame);
POM_ME_POS* pos = posterAddr(id);
memset(pos, 0, sizeof(POM_ME_POS));
pos->kind = POM_ME_ABSOLUTE;
pos->confidence = confidence;
*ok = 1;
return (id);
}
/*
* Create a poster, and fill it with information which don't change during the
* execution, including bank_name, camera_name, nb_images, size of images,
* camera calibration...
*
* Return a POSTER_ID on success, NULL otherwise
*
* you must call finalize when you don't use anymore the POSTER_ID
*/
POSTER_ID init_data (char* poster_name)
{
POSTER_ID id;
STATUS s = posterCreate (poster_name, sizeof(SICK_CART_MEASURES_STR), &id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
return (NULL);
}
return (id);
}
int
main(int argc, char **argv)
{
char *nom;
int i;
POSTER_ID id;
if (argc == 1) {
nom = "test";
} else {
nom = argv[1];
}
if (posterCreate(nom, sizeof(int), &id) != OK) {
printf("Error posterCreate %x\n", errnoGet());
h2printErrno(errnoGet());
exit(-1);
}
while (1) {
scanf("%d", &i);
/*
posterWrite(id, 0, &i, sizeof(int));
*/
if (posterTake(id, POSTER_WRITE) == ERROR) {
fprintf(stderr, "Error posterTake: ");
h2printErrno(errnoGet());
}
*(int *)posterAddr(id) = i;
if (posterGive(id) == ERROR) {
fprintf(stderr, "Error posterGive: ");
h2printErrno(errnoGet());
}
if (i == -1) {
printf("Bye\n");
posterDelete(id);
exit(0);
}
}
return 0;
}
static int
Stereopixel_init(Stereopixel *self, PyObject *args, PyObject *kwds)
{
PyObject *images;
char* poster_name;
if (!PyArg_ParseTuple(args, "snn", &poster_name, &(self->width), &(self->height)))
return -1;
size_t poster_size = sizeof(Spix3DImage) +
self->width * self->height * sizeof(Spix3DPixel);
STATUS s = posterCreate (poster_name, poster_size, &self->id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
return -1;
}
printf("Succesfully created poster %s of size %zd\n", poster_name, poster_size);
Spix3DImage* img = posterAddr(self->id);
posterTake(self->id, POSTER_WRITE);
img->width = self->width;
img->height = self->height;
self->size = self->width * self->height;
// dummy matrix
memset(img->intrinseque_rectified, 0, sizeof(img->intrinseque_rectified));
posterGive(self->id);
return 0;
}
/*
* Create a poster, and fill it with information that don't change during the
* execution
*
* Return a POSTER_ID on success, NULL otherwise
*
* you must call finalize when you don't use anymore the POSTER_ID
*/
POSTER_ID init_data (char* poster_name, int* ok)
{
size_t poster_size = 0;
POSTER_ID id;
poster_size = sizeof(VimanObjectPublicArray);
STATUS s = posterCreate (poster_name, poster_size, &id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
*ok = 0;
return (NULL);
}
//printf("Poster '%s' created of type VIMAN (size %zd)\n", poster_name, poster_size);
//printf ("INIT ID = %p (pointer)\n", id);
*ok = 1;
return (id);
}
int main(int argc, char *argv[])
{
POSTER_ID posterIdC;
POSTER_ID posterIdF;
TESTPOST_STR testIn = INIT_TESTPOST_STR;
TESTPOST_STR testOut;
int size = sizeof(TESTPOST_STR);
int sizeOut;
H2_ENDIANNESS endianness;
char c;
char msg[256];
printf ("testPosterWrite: LOCAL ENDIANNESS = %d\n", h2localEndianness());
/* create */
if (posterCreate(TEST_POSTER_NAME, size, &posterIdC) == ERROR) {
printf ("testPosterWrite: posterCreate(%s) failed : %s\n",
TEST_POSTER_NAME, h2getErrMsg(errnoGet(), msg, 256));
return 1;
}
printf ("testPosterWrite: poster %s created. Id = %0x\n",
TEST_POSTER_NAME, (int)posterIdC);
posterEndianness(posterIdC, &endianness);
printf ("testPosterWrite: posterEndianness(%s) = %d\n\n",
TEST_POSTER_NAME, endianness);
/* write */
if ((sizeOut=posterWrite(posterIdC, 0, (void *)&testIn, size)) != size) {
printf ("testPosterWrite: posterWrite size = %d != %d \n", sizeOut, size);
return testEnd(posterIdC);
}
printf ("testPosterWrite: poster %s writen\n", TEST_POSTER_NAME);
/* read after create */
if ((sizeOut=posterRead(posterIdC, 0, (void *)&testOut, size)) != size) {
printf ("testPosterWrite: posterRead size = %d != %d \n", sizeOut, size);
return testEnd(posterIdC);
}
printf ("testPosterWrite: poster %s read OK\n", TEST_POSTER_NAME);
/* display */
if (endianness != h2localEndianness())
endianswap_TESTPOST_STR(&testOut);
printTestStr("Write", &testOut);
printf ("\n");
/* find */
if (posterFind(TEST_POSTER_NAME, &posterIdF) == ERROR) {
printf ("testPosterWrite: posterFind failed\n");
return testEnd(posterIdC);
}
/* printf ("posterFind TEST_POSTER_NAME posterIdF = %d\n", (int)posterIdF); */
posterEndianness(posterIdF, &endianness);
printf (" endianness = %d\n", endianness);
/* read after find */
if ((sizeOut=posterRead(posterIdF, 0, (void *)&testOut, size)) != size) {
printf ("testPosterWrite: posterRead size = %d != %d \n", sizeOut, size);
return testEnd(posterIdC);
}
/* display */
if (endianness != h2localEndianness())
endianswap_TESTPOST_STR(&testOut);
printTestStr("Write", &testOut);
/* find again */
if (posterFind(TEST_POSTER_NAME, &posterIdF) == ERROR) {
printf ("testPosterWrite: posterFind failed\n");
return testEnd(posterIdC);
}
printf ("PosterIdF %s = %d\n", TEST_POSTER_NAME, (int)posterIdF);
posterEndianness(posterIdF, &endianness);
printf (" endianness = %d\n", endianness);
printf ("Return to end ....");
fflush(stdout);
scanf("%c", &c);
/* end */
return testEnd(posterIdF);
}
