int main()
#endif
{
KLT_FeatureList fl;
KLT_FeatureHistory fh;
KLT_FeatureTable ft;
int i;
ft = KLTReadFeatureTable(NULL, "features.txt");
fl = KLTCreateFeatureList(ft->nFeatures);
KLTExtractFeatureList(fl, ft, 1);
KLTWriteFeatureList(fl, "feat1.txt", "%3d");
KLTReadFeatureList(fl, "feat1.txt");
KLTStoreFeatureList(fl, ft, 2);
KLTWriteFeatureTable(ft, "ft2.txt", "%3d");
fh = KLTCreateFeatureHistory(ft->nFrames);
KLTExtractFeatureHistory(fh, ft, 5);
printf("The feature history of feature number 5:\n\n");
for (i = 0 ; i < fh->nFrames ; i++)
printf("%d: (%5.1f,%5.1f) = %d\n",
i, fh->feature[i]->x, fh->feature[i]->y,
fh->feature[i]->val);
KLTStoreFeatureHistory(fh, ft, 8);
KLTWriteFeatureTable(ft, "ft3.txt", "%6.1f");
return 0;
}
int main()
#endif
{
unsigned char *img1, *img2;
char fnamein[100], fnameout[100];
KLT_TrackingContext tc;
KLT_FeatureList fl;
KLT_FeatureTable ft;
int nFeatures = 150, nFrames = 10;
int ncols, nrows;
int i;
tc = KLTCreateTrackingContext();
fl = KLTCreateFeatureList(nFeatures);
ft = KLTCreateFeatureTable(nFrames, nFeatures);
tc->sequentialMode = TRUE;
tc->writeInternalImages = FALSE;
tc->affineConsistencyCheck = -1; /* set this to 2 to turn on affine consistency check */
img1 = pgmReadFile("img0.pgm", NULL, &ncols, &nrows);
img2 = (unsigned char *) malloc(ncols*nrows*sizeof(unsigned char));
KLTSelectGoodFeatures(tc, img1, ncols, nrows, fl);
KLTStoreFeatureList(fl, ft, 0);
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, "feat0.ppm");
for (i = 1 ; i < nFrames ; i++) {
sprintf(fnamein, "img%d.pgm", i);
pgmReadFile(fnamein, img2, &ncols, &nrows);
KLTTrackFeatures(tc, img1, img2, ncols, nrows, fl);
#ifdef REPLACE
KLTReplaceLostFeatures(tc, img2, ncols, nrows, fl);
#endif
KLTStoreFeatureList(fl, ft, i);
sprintf(fnameout, "feat%d.ppm", i);
KLTWriteFeatureListToPPM(fl, img2, ncols, nrows, fnameout);
}
KLTWriteFeatureTable(ft, "features.txt", "%5.1f");
KLTWriteFeatureTable(ft, "features.ft", NULL);
KLTFreeFeatureTable(ft);
KLTFreeFeatureList(fl);
KLTFreeTrackingContext(tc);
free(img1);
free(img2);
return 0;
}
int main(int argc, char ** argv)
{
//Timer appTimer;
//initTimer(&appTimer, "APP Time");
unsigned char *img1, *img2;
char fnamein[100], fnameout[100];
KLT_TrackingContext tc;
KLT_FeatureList fl;
KLT_FeatureTable ft;
int nFeatures;
int nFrames;
int ncols, nrows;
int i;
if(argc == 3)
{
nFeatures = atoi(argv[1]);
nFrames = atoi(argv[2]);
}
else
{
nFeatures = 512;
nFrames = 10;
}
tc = KLTCreateTrackingContext();
fl = KLTCreateFeatureList(nFeatures);
ft = KLTCreateFeatureTable(nFrames, nFeatures);
tc->sequentialMode = TRUE;
tc->writeInternalImages = FALSE;
tc->affineConsistencyCheck = -1; /* set this to 2 to turn on affine consistency check */
//startTimer(&appTimer);
img1 = pgmReadFile("img0.pgm", NULL, &ncols, &nrows);
img2 = (unsigned char *) malloc(ncols*nrows*sizeof(unsigned char));
KLTSelectGoodFeatures(tc, img1, ncols, nrows, fl);
KLTStoreFeatureList(fl, ft, 0);
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, "feat0.ppm");
for (i = 1 ; i < nFrames ; i++)
{
sprintf(fnamein, "img%d.pgm", i);
pgmReadFile(fnamein, img2, &ncols, &nrows);
KLTTrackFeatures(tc, img1, img2, ncols, nrows, fl);
#ifdef REPLACE
KLTReplaceLostFeatures(tc, img2, ncols, nrows, fl);
#endif
KLTStoreFeatureList(fl, ft, i);
sprintf(fnameout, "feat%d.ppm", i);
KLTWriteFeatureListToPPM(fl, img2, ncols, nrows, fnameout);
}
//stopTimer(&appTimer);
//printTime(appTimer);
//printf("Frames per second = %4.2f\n", nFrames / getTime(appTimer) *1000 );
KLTWriteFeatureTable(ft, "features.txt", "%5.1f");
KLTWriteFeatureTable(ft, "features.ft", NULL);
KLTFreeFeatureTable(ft);
KLTFreeFeatureList(fl);
KLTFreeTrackingContext(tc);
free(img1);
free(img2);
return 0;
}
/** ============================================================================
* @func pool_notify_Execute
*
* @desc This function implements the execute phase for this application.
*
* @modif None
* ============================================================================
*/
NORMAL_API
DSP_STATUS
pool_notify_Execute (IN Uint32 numIterations, Uint8 processorId, IN Char8 * strFeatures, IN Char8 * strFrames)
{
DSP_STATUS status = DSP_SOK ;
long long start;
// Variables for klt
unsigned char *img1, *img2;
char fnamein[100], fnameout[100];
KLT_TrackingContext tc;
KLT_FeatureList fl;
KLT_FeatureTable ft;
int ncols, nrows;
int i;
int nFeatures;
int nFrames;
#if defined(DSP)
unsigned char *buf_dsp;
#endif
#ifdef DEBUG
printf ("Entered pool_notify_Execute ()\n") ;
#endif
nFeatures = atoi(strFeatures);
nFrames = atoi(strFrames);
unit_init();
start = get_usec();
tc = KLTCreateTrackingContext();
fl = KLTCreateFeatureList(nFeatures);
ft = KLTCreateFeatureTable(nFrames, nFeatures);
tc->sequentialMode = TRUE;
tc->writeInternalImages = FALSE;
tc->affineConsistencyCheck = -1; /* set this to 2 to turn on affine consistency check */
//startTimer(&appTimer);
img1 = pgmReadFile("img0.pgm", NULL, &ncols, &nrows);
img2 = (unsigned char *) malloc(ncols*nrows*sizeof(unsigned char));
KLTSelectGoodFeatures(tc, img1, ncols, nrows, fl);
KLTStoreFeatureList(fl, ft, 0);
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, "feat0.ppm");
for (i = 1 ; i < nFrames ; i++)
{
sprintf(fnamein, "img%d.pgm", i);
pgmReadFile(fnamein, img2, &ncols, &nrows);
KLTTrackFeatures(tc, img1, img2, ncols, nrows, fl);
#ifdef REPLACE
KLTReplaceLostFeatures(tc, img2, ncols, nrows, fl);
#endif
KLTStoreFeatureList(fl, ft, i);
sprintf(fnameout, "feat%d.ppm", i);
KLTWriteFeatureListToPPM(fl, img2, ncols, nrows, fnameout);
}
//stopTimer(&appTimer);
//printTime(appTimer);
//printf("Frames per second = %4.2f\n", nFrames / getTime(appTimer) *1000 );
KLTWriteFeatureTable(ft, "features.txt", "%5.1f");
KLTWriteFeatureTable(ft, "features.ft", NULL);
KLTFreeFeatureTable(ft);
KLTFreeFeatureList(fl);
KLTFreeTrackingContext(tc);
free(img1);
free(img2);
#if !defined(DSP)
printf(" Result is %d \n", sum_dsp(pool_notify_DataBuf,pool_notify_BufferSize));
#endif
#if defined(DSP)
POOL_writeback (POOL_makePoolId(processorId, SAMPLE_POOL_ID),
pool_notify_DataBuf,
pool_notify_BufferSize);
POOL_translateAddr ( POOL_makePoolId(processorId, SAMPLE_POOL_ID),
(void*)&buf_dsp,
AddrType_Dsp,
(Void *) pool_notify_DataBuf,
AddrType_Usr) ;
NOTIFY_notify (processorId,pool_notify_IPS_ID,pool_notify_IPS_EVENTNO,1);
sem_wait(&sem);
#endif
printf("Sum execution time %lld us.\n", get_usec()-start);
return status ;
}
