int main(int argc, char** argv) {
CreateAllInterfaces();
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
signal(SIGHUP, catch_signal);
print_menu();
char last_command = '?';
while (!quit) {
char command [200];
std::cin.getline(command, sizeof(command));
#if 0
if (command == NULL) {
print_menu();
continue;
}
#endif
collect_messages();
switch((command[0] == 0) ? last_command : command[0]) {
case 'l':
list_devices();
break;
case 's':
print_status();
break;
case 'c':
send_command(command+1);
break;
case 'q':
quit = true;
break;
case '?':
default:
print_menu();
break;
}
assert(command!=NULL);
if(command[0] != 0)
last_command = command[0];
}
CloseAllDevices();
CloseAllInterfaces();
return 0;
}
// multiscale belief propagation for image restoration
cv::Mat interp_ms(
cv::Mat seed, int values, int iters, int levels, int min_level, float smooth,
float seed_weight, float seed_max, float disc_max)
{
volume<float> *u[levels];
volume<float> *d[levels];
volume<float> *l[levels];
volume<float> *r[levels];
volume<float> *data[levels];
// data costs
data[0] = comp_data(seed, values, seed_weight, seed_max, smooth);
// data pyramid
for (int i = 1; i < levels; i++) {
int old_width = data[i-1]->width();
int old_height = data[i-1]->height();
int new_width = (int)ceil(old_width/2.0);
int new_height = (int)ceil(old_height/2.0);
assert(new_width >= 1);
assert(new_height >= 1);
data[i] = new volume<float>(new_width, new_height, values);
for (int y = 0; y < old_height; y++) {
for (int x = 0; x < old_width; x++) {
for (int value = 0; value < values; value++) {
(*data[i])(x/2, y/2, value) += (*data[i-1])(x, y, value);
}
}
}
}
// run bp from coarse to fine
for (int i = levels-1; i >= 0; i--) {
int width = data[i]->width();
int height = data[i]->height();
// allocate & init memory for messages
if (i == levels-1) {
// in the coarsest level messages are initialized to zero
u[i] = new volume<float>(width, height, values);
d[i] = new volume<float>(width, height, values);
l[i] = new volume<float>(width, height, values);
r[i] = new volume<float>(width, height, values);
} else {
// initialize messages from values of previous level
u[i] = new volume<float>(width, height, values, false);
d[i] = new volume<float>(width, height, values, false);
l[i] = new volume<float>(width, height, values, false);
r[i] = new volume<float>(width, height, values, false);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
for (int value = 0; value < values; value++) {
(*u[i])(x, y, value) = (*u[i+1])(x/2, y/2, value);
(*d[i])(x, y, value) = (*d[i+1])(x/2, y/2, value);
(*l[i])(x, y, value) = (*l[i+1])(x/2, y/2, value);
(*r[i])(x, y, value) = (*r[i+1])(x/2, y/2, value);
}
}
}
// delete old messages and data
delete u[i+1];
delete d[i+1];
delete l[i+1];
delete r[i+1];
delete data[i+1];
}
if (i >= min_level) {
// BP
bp_cb(*u[i], *d[i], *l[i], *r[i], *data[i], iters, disc_max);
}
}
collect_messages(*u[0], *d[0], *l[0], *r[0], *data[0]);
delete u[0];
delete d[0];
delete l[0];
delete r[0];
cv::Mat out = max_value(*data[0]);
delete data[0];
return out;
}
