// inputs b and c are placeholders, a is inverted, and the output is c:
void chol_inverse(double **a, int n, double *p, double **b, double **c){
int i, j, k;
double sum=0.0;
// Cholesky decomposition of Sigma:
for (i=1; i<=n; i++){
for (j=i; j<=n; j++){
for (sum=a[i-1][j-1], k=i-1; k>=1; k--) sum -= a[i-1][k-1]*a[j-1][k-1];
if (i == j){
p[i-1]=sqrt(sum);
} else a[j-1][i-1]=sum/p[i-1];
}
}
// Invert the lower triangle:
for (i=1; i<=n; i++){
a[i-1][i-1] = 1.0/p[i-1];
for (j=i+1; j<=n; j++){
sum = 0.0;
for (k=i; k<j; k++) sum -= a[j-1][k-1]*a[k-1][i-1];
a[j-1][i-1] = sum/p[j-1];
}
}
// set upper triangular elements to zero:
for (i=0; i<n; i++){
for (j=i+1; j<n; j++) a[i][j] = 0.0;
}
dtp(a,n,n,b); // b becomes transpose of a
dmm(b,n,n,a,n,n,c); // a-transpose %*% a = c, where c is the inverse of a
}
bool cSatipDevice::SetChannelDevice(const cChannel *channelP, bool liveViewP)
{
debug9("%s (%d, %d) [device %u]", __PRETTY_FUNCTION__, channelP ? channelP->Number() : -1, liveViewP, deviceIndexM);
if (channelP) {
cDvbTransponderParameters dtp(channelP->Parameters());
cString params = GetTransponderUrlParameters(channelP);
if (isempty(params)) {
error("Unrecognized channel parameters: %s [device %u]", channelP->Parameters(), deviceIndexM);
return false;
}
cString address;
cSatipServer *server = cSatipDiscover::GetInstance()->AssignServer(deviceIndexM, channelP->Source(), channelP->Transponder(), dtp.System());
if (!server) {
debug9("%s No suitable server found [device %u]", __PRETTY_FUNCTION__, deviceIndexM);
return false;
}
if (pTunerM && pTunerM->SetSource(server, channelP->Transponder(), *params, deviceIndexM)) {
channelM = *channelP;
deviceNameM = cString::sprintf("%s %d %s", *DeviceType(), deviceIndexM, *cSatipDiscover::GetInstance()->GetServerString(server));
return true;
}
}
else if (pTunerM) {
pTunerM->SetSource(NULL, 0, NULL, deviceIndexM);
return true;
}
return false;
}
void dt()
{
if(!strcmp("ID",token))
{
consume();
dtp();
}
else
{
error("Declaration syntax error. ");
consumeStatement();
}
}
bool cSatipDevice::SetChannelDevice(const cChannel *channelP, bool liveViewP)
{
if (channelP) {
cDvbTransponderParameters dtp(channelP->Parameters());
cString params = GetTransponderUrlParameters(channelP);
if (isempty(params)) {
error("Unrecognized SAT>IP channel parameters: %s", channelP->Parameters());
return false;
}
cString address;
cSatipServer *server = cSatipDiscover::GetInstance()->GetServer(channelP->Source(), dtp.System());
if (!server) {
debug("cSatipDevice::%s(%u): no suitable server found", __FUNCTION__, deviceIndexM);
return false;
}
if (pTunerM && pTunerM->SetSource(server, *params, deviceIndexM)) {
deviceNameM = cString::sprintf("%s %d %s", *DeviceType(), deviceIndexM, *cSatipDiscover::GetInstance()->GetServerString(server));
channelM = *channelP;
return true;
}
}
return false;
}
void HarrisBuffer::ProcessFrame(IplImage* frm, IplImage* OFx_precomp, IplImage* OFy_precomp)
{
int i;
if (!prevgray) cvCopy(frm,prevgray);
else cvCopy(gray,prevgray);
cvCopy(frm,gray);
cvScale(gray, frame, 1.0/255.0, 0.0);
//Ross moved this 'till later
original.Update(frame);
//spatial filtering
CVUtil::GaussianSmooth(frame, tmp, sig2, FFT);
databuffer.Update(tmp);
//temporal filtering
int tstamp1 = databuffer.TemporalConvolve(tmp1, TemporalMask1);
convbuffer.Update(tmp1, tstamp1);
int tstamp1d = convbuffer.TemporalConvolve(Lt, DerivMask);
cvScale(Lt, Lt, sqrt(tau2_) , 0);
convbuffer.GetFrame(tstamp1d,L);
CVUtil::ImageGradient(L, Lx, Ly); //prb: a possible scale
cvScale(Lx, Lx, sqrt(sig2)*0.5 , 0);
cvScale(Ly, Ly, sqrt(sig2)*0.5 , 0);
//update second-moment matrix
GaussianSmoothingMul(Lx, Lx, tmp1, 2 * sig2);
cxxbuffer.Update(tmp1,tstamp1d);
GaussianSmoothingMul(Lx, Ly, tmp1, 2 * sig2);
cxybuffer.Update(tmp1,tstamp1d);
GaussianSmoothingMul(Lx, Lt, tmp1, 2 * sig2);
cxtbuffer.Update(tmp1,tstamp1d);
GaussianSmoothingMul(Ly, Ly, tmp1, 2 * sig2);
cyybuffer.Update(tmp1,tstamp1d);
GaussianSmoothingMul(Ly, Lt, tmp1, 2 * sig2);
cytbuffer.Update(tmp1,tstamp1d);
GaussianSmoothingMul(Lt, Lt, tmp1, 2 * sig2);
cttbuffer.Update(tmp1, tstamp1d);
//update Harris buffer
int tstamp2=0;
tstamp2=cxxbuffer.TemporalConvolve(cxx, TemporalMask2);
tstamp2=cxybuffer.TemporalConvolve(cxy, TemporalMask2);
tstamp2=cxtbuffer.TemporalConvolve(cxt, TemporalMask2);
tstamp2=cyybuffer.TemporalConvolve(cyy, TemporalMask2);
tstamp2=cytbuffer.TemporalConvolve(cyt, TemporalMask2);
tstamp2=cttbuffer.TemporalConvolve(ctt, TemporalMask2);
// Estimate L&K optical flow from second moment matrix
//OpticalFlowFromSMM();
//OpticalFlowFromLK();
OFx=OFx_precomp;
OFy=OFy_precomp;
// compute 3D extension of Harris function
HarrisFunction(kparam, tmp);
Hbuffer.Update(tmp,tstamp2);
//*** detect interest points
DetectInterestPoints(Border);
//*** compute point descriptors
for(i=0;i<(int)ipList.size();i++) {
if(!ipList[i].reject)
{
DetectedTrackingPoint dtp(ipList[i]);
//Here I want to add the interest point to the list of interest-points-to-track
pointsToTrack.push_back(dtp);
}
}
//here's where I do the tracking
// go through pointsToTrack
// for everything that hasn't finished tracking
// add it's most recent location to the list that the openCV KLT function will take
// run the opencv KLT function
// using the same "for" structure that added the points to the tracking list,
// go through those points, and either add the new tracked position to the point
// or, if tracking was lost,
// remove the point from pointsToTrack, and add it to pointsFinishedTracking
//first, allocate the prev_features structure
CalculateVelocityHistories();
iFrame++;
return;
}
void cNitFilter::Process(u_short Pid, u_char Tid, const u_char *Data, int Length)
{
SI::NIT nit(Data, false);
if (!nit.CheckCRCAndParse())
return;
// Some broadcasters send more than one NIT, with no apparent way of telling which
// one is the right one to use. This is an attempt to find the NIT that contains
// the transponder it was transmitted on and use only that one:
int ThisNIT = -1;
if (!networkId) {
for (int i = 0; i < numNits; i++) {
if (nits[i].networkId == nit.getNetworkId()) {
if (nit.getSectionNumber() == 0) {
// all NITs have passed by
for (int j = 0; j < numNits; j++) {
if (nits[j].hasTransponder) {
networkId = nits[j].networkId;
//printf("taking NIT with network ID %d\n", networkId);
//XXX what if more than one NIT contains this transponder???
break;
}
}
if (!networkId) {
//printf("none of the NITs contains transponder %d\n", Transponder());
return;
}
}
else {
ThisNIT = i;
break;
}
}
}
if (!networkId && ThisNIT < 0 && numNits < MAXNITS) {
if (nit.getSectionNumber() == 0) {
*nits[numNits].name = 0;
SI::Descriptor *d;
for (SI::Loop::Iterator it; (d = nit.commonDescriptors.getNext(it)); ) {
switch (d->getDescriptorTag()) {
case SI::NetworkNameDescriptorTag: {
SI::NetworkNameDescriptor *nnd = (SI::NetworkNameDescriptor *)d;
nnd->name.getText(nits[numNits].name, MAXNETWORKNAME);
}
break;
default: ;
}
delete d;
}
nits[numNits].networkId = nit.getNetworkId();
nits[numNits].hasTransponder = false;
//printf("NIT[%d] %5d '%s'\n", numNits, nits[numNits].networkId, nits[numNits].name);
ThisNIT = numNits;
numNits++;
}
}
}
else if (networkId != nit.getNetworkId())
return; // ignore all other NITs
else if (!sectionSyncer.Sync(nit.getVersionNumber(), nit.getSectionNumber(), nit.getLastSectionNumber()))
return;
if (!Channels.Lock(true, 10))
return;
SI::NIT::TransportStream ts;
for (SI::Loop::Iterator it; nit.transportStreamLoop.getNext(ts, it); ) {
SI::Descriptor *d;
SI::Loop::Iterator it2;
SI::FrequencyListDescriptor *fld = (SI::FrequencyListDescriptor *)ts.transportStreamDescriptors.getNext(it2, SI::FrequencyListDescriptorTag);
int NumFrequencies = fld ? fld->frequencies.getCount() + 1 : 1;
int Frequencies[NumFrequencies];
if (fld) {
int ct = fld->getCodingType();
if (ct > 0) {
int n = 1;
for (SI::Loop::Iterator it3; fld->frequencies.hasNext(it3); ) {
int f = fld->frequencies.getNext(it3);
switch (ct) {
case 1: f = BCD2INT(f) / 100; break;
case 2: f = BCD2INT(f) / 10; break;
case 3: f = f * 10; break;
default: ;
}
Frequencies[n++] = f;
}
}
else
NumFrequencies = 1;
}
delete fld;
for (SI::Loop::Iterator it2; (d = ts.transportStreamDescriptors.getNext(it2)); ) {
switch (d->getDescriptorTag()) {
case SI::SatelliteDeliverySystemDescriptorTag: {
SI::SatelliteDeliverySystemDescriptor *sd = (SI::SatelliteDeliverySystemDescriptor *)d;
cDvbTransponderParameters dtp;
int Source = cSource::FromData(cSource::stSat, BCD2INT(sd->getOrbitalPosition()), sd->getWestEastFlag());
int Frequency = Frequencies[0] = BCD2INT(sd->getFrequency()) / 100;
static char Polarizations[] = { 'H', 'V', 'L', 'R' };
dtp.SetPolarization(Polarizations[sd->getPolarization()]);
static int CodeRates[] = { FEC_NONE, FEC_1_2, FEC_2_3, FEC_3_4, FEC_5_6, FEC_7_8, FEC_8_9, FEC_3_5, FEC_4_5, FEC_9_10, FEC_AUTO, FEC_AUTO, FEC_AUTO, FEC_AUTO, FEC_AUTO, FEC_NONE };
dtp.SetCoderateH(CodeRates[sd->getFecInner()]);
static int Modulations[] = { QAM_AUTO, QPSK, PSK_8, QAM_16 };
dtp.SetModulation(Modulations[sd->getModulationType()]);
dtp.SetSystem(sd->getModulationSystem() ? DVB_SYSTEM_2 : DVB_SYSTEM_1);
static int RollOffs[] = { ROLLOFF_35, ROLLOFF_25, ROLLOFF_20, ROLLOFF_AUTO };
dtp.SetRollOff(sd->getModulationSystem() ? RollOffs[sd->getRollOff()] : ROLLOFF_AUTO);
int SymbolRate = BCD2INT(sd->getSymbolRate()) / 10;
if (ThisNIT >= 0) {
for (int n = 0; n < NumFrequencies; n++) {
if (ISTRANSPONDER(cChannel::Transponder(Frequencies[n], dtp.Polarization()), Transponder())) {
nits[ThisNIT].hasTransponder = true;
//printf("has transponder %d\n", Transponder());
break;
}
}
break;
}
if (Setup.UpdateChannels >= 5) {
bool found = false;
bool forceTransponderUpdate = false;
for (cChannel *Channel = Channels.First(); Channel; Channel = Channels.Next(Channel)) {
if (!Channel->GroupSep() && Channel->Source() == Source && Channel->Nid() == ts.getOriginalNetworkId() && Channel->Tid() == ts.getTransportStreamId()) {
int transponder = Channel->Transponder();
found = true;
if (!ISTRANSPONDER(cChannel::Transponder(Frequency, dtp.Polarization()), transponder)) {
for (int n = 0; n < NumFrequencies; n++) {
if (ISTRANSPONDER(cChannel::Transponder(Frequencies[n], dtp.Polarization()), transponder)) {
Frequency = Frequencies[n];
break;
}
}
}
if (ISTRANSPONDER(cChannel::Transponder(Frequency, dtp.Polarization()), Transponder())) // only modify channels if we're actually receiving this transponder
Channel->SetTransponderData(Source, Frequency, SymbolRate, dtp.ToString('S'));
else if (Channel->Srate() != SymbolRate || strcmp(Channel->Parameters(), dtp.ToString('S')))
forceTransponderUpdate = true; // get us receiving this transponder
}
}
if (!found || forceTransponderUpdate) {
for (int n = 0; n < NumFrequencies; n++) {
cChannel *Channel = new cChannel;
Channel->SetId(ts.getOriginalNetworkId(), ts.getTransportStreamId(), 0, 0);
if (Channel->SetTransponderData(Source, Frequencies[n], SymbolRate, dtp.ToString('S')))
EITScanner.AddTransponder(Channel);
else
delete Channel;
}
}
}
}
break;
case SI::S2SatelliteDeliverySystemDescriptorTag: {
if (Setup.UpdateChannels >= 5) {
for (cChannel *Channel = Channels.First(); Channel; Channel = Channels.Next(Channel)) {
if (!Channel->GroupSep() && cSource::IsSat(Channel->Source()) && Channel->Nid() == ts.getOriginalNetworkId() && Channel->Tid() == ts.getTransportStreamId()) {
SI::S2SatelliteDeliverySystemDescriptor *sd = (SI::S2SatelliteDeliverySystemDescriptor *)d;
cDvbTransponderParameters dtp(Channel->Parameters());
dtp.SetSystem(DVB_SYSTEM_2);
dtp.SetStreamId(sd->getInputStreamIdentifier());
Channel->SetTransponderData(Channel->Source(), Channel->Frequency(), Channel->Srate(), dtp.ToString('S'));
break;
}
}
}
}
break;
case SI::CableDeliverySystemDescriptorTag: {
SI::CableDeliverySystemDescriptor *sd = (SI::CableDeliverySystemDescriptor *)d;
cDvbTransponderParameters dtp;
int Source = cSource::FromData(cSource::stCable);
int Frequency = Frequencies[0] = BCD2INT(sd->getFrequency()) / 10;
//XXX FEC_outer???
static int CodeRates[] = { FEC_NONE, FEC_1_2, FEC_2_3, FEC_3_4, FEC_5_6, FEC_7_8, FEC_8_9, FEC_3_5, FEC_4_5, FEC_9_10, FEC_AUTO, FEC_AUTO, FEC_AUTO, FEC_AUTO, FEC_AUTO, FEC_NONE };
dtp.SetCoderateH(CodeRates[sd->getFecInner()]);
static int Modulations[] = { QPSK, QAM_16, QAM_32, QAM_64, QAM_128, QAM_256, QAM_AUTO };
dtp.SetModulation(Modulations[min(sd->getModulation(), 6)]);
int SymbolRate = BCD2INT(sd->getSymbolRate()) / 10;
if (ThisNIT >= 0) {
for (int n = 0; n < NumFrequencies; n++) {
if (ISTRANSPONDER(Frequencies[n] / 1000, Transponder())) {
nits[ThisNIT].hasTransponder = true;
//printf("has transponder %d\n", Transponder());
break;
}
}
break;
}
if (Setup.UpdateChannels >= 5) {
bool found = false;
bool forceTransponderUpdate = false;
for (cChannel *Channel = Channels.First(); Channel; Channel = Channels.Next(Channel)) {
if (!Channel->GroupSep() && Channel->Source() == Source && Channel->Nid() == ts.getOriginalNetworkId() && Channel->Tid() == ts.getTransportStreamId()) {
int transponder = Channel->Transponder();
found = true;
if (!ISTRANSPONDER(Frequency / 1000, transponder)) {
for (int n = 0; n < NumFrequencies; n++) {
if (ISTRANSPONDER(Frequencies[n] / 1000, transponder)) {
Frequency = Frequencies[n];
break;
}
}
}
if (ISTRANSPONDER(Frequency / 1000, Transponder())) // only modify channels if we're actually receiving this transponder
Channel->SetTransponderData(Source, Frequency, SymbolRate, dtp.ToString('C'));
else if (Channel->Srate() != SymbolRate || strcmp(Channel->Parameters(), dtp.ToString('C')))
forceTransponderUpdate = true; // get us receiving this transponder
}
}
if (!found || forceTransponderUpdate) {
for (int n = 0; n < NumFrequencies; n++) {
cChannel *Channel = new cChannel;
Channel->SetId(ts.getOriginalNetworkId(), ts.getTransportStreamId(), 0, 0);
if (Channel->SetTransponderData(Source, Frequencies[n], SymbolRate, dtp.ToString('C')))
EITScanner.AddTransponder(Channel);
else
delete Channel;
}
}
}
}
break;
case SI::TerrestrialDeliverySystemDescriptorTag: {
SI::TerrestrialDeliverySystemDescriptor *sd = (SI::TerrestrialDeliverySystemDescriptor *)d;
cDvbTransponderParameters dtp;
int Source = cSource::FromData(cSource::stTerr);
int Frequency = Frequencies[0] = sd->getFrequency() * 10;
static int Bandwidths[] = { 8000000, 7000000, 6000000, 5000000, 0, 0, 0, 0 };
dtp.SetBandwidth(Bandwidths[sd->getBandwidth()]);
static int Constellations[] = { QPSK, QAM_16, QAM_64, QAM_AUTO };
dtp.SetModulation(Constellations[sd->getConstellation()]);
dtp.SetSystem(DVB_SYSTEM_1);
static int Hierarchies[] = { HIERARCHY_NONE, HIERARCHY_1, HIERARCHY_2, HIERARCHY_4, HIERARCHY_AUTO, HIERARCHY_AUTO, HIERARCHY_AUTO, HIERARCHY_AUTO };
dtp.SetHierarchy(Hierarchies[sd->getHierarchy()]);
static int CodeRates[] = { FEC_1_2, FEC_2_3, FEC_3_4, FEC_5_6, FEC_7_8, FEC_AUTO, FEC_AUTO, FEC_AUTO };
dtp.SetCoderateH(CodeRates[sd->getCodeRateHP()]);
dtp.SetCoderateL(CodeRates[sd->getCodeRateLP()]);
static int GuardIntervals[] = { GUARD_INTERVAL_1_32, GUARD_INTERVAL_1_16, GUARD_INTERVAL_1_8, GUARD_INTERVAL_1_4 };
dtp.SetGuard(GuardIntervals[sd->getGuardInterval()]);
static int TransmissionModes[] = { TRANSMISSION_MODE_2K, TRANSMISSION_MODE_8K, TRANSMISSION_MODE_4K, TRANSMISSION_MODE_AUTO };
dtp.SetTransmission(TransmissionModes[sd->getTransmissionMode()]);
if (ThisNIT >= 0) {
for (int n = 0; n < NumFrequencies; n++) {
if (ISTRANSPONDER(Frequencies[n] / 1000000, Transponder())) {
nits[ThisNIT].hasTransponder = true;
//printf("has transponder %d\n", Transponder());
break;
}
}
break;
}
if (Setup.UpdateChannels >= 5) {
bool found = false;
bool forceTransponderUpdate = false;
for (cChannel *Channel = Channels.First(); Channel; Channel = Channels.Next(Channel)) {
if (!Channel->GroupSep() && Channel->Source() == Source && Channel->Nid() == ts.getOriginalNetworkId() && Channel->Tid() == ts.getTransportStreamId()) {
int transponder = Channel->Transponder();
found = true;
if (!ISTRANSPONDER(Frequency / 1000000, transponder)) {
for (int n = 0; n < NumFrequencies; n++) {
if (ISTRANSPONDER(Frequencies[n] / 1000000, transponder)) {
Frequency = Frequencies[n];
break;
}
}
}
if (ISTRANSPONDER(Frequency / 1000000, Transponder())) // only modify channels if we're actually receiving this transponder
Channel->SetTransponderData(Source, Frequency, 0, dtp.ToString('T'));
else if (strcmp(Channel->Parameters(), dtp.ToString('T')))
forceTransponderUpdate = true; // get us receiving this transponder
}
}
if (!found || forceTransponderUpdate) {
for (int n = 0; n < NumFrequencies; n++) {
cChannel *Channel = new cChannel;
Channel->SetId(ts.getOriginalNetworkId(), ts.getTransportStreamId(), 0, 0);
if (Channel->SetTransponderData(Source, Frequencies[n], 0, dtp.ToString('T')))
EITScanner.AddTransponder(Channel);
else
delete Channel;
}
}
}
}
break;
case SI::ExtensionDescriptorTag: {
SI::ExtensionDescriptor *sd = (SI::ExtensionDescriptor *)d;
switch (sd->getExtensionDescriptorTag()) {
case SI::T2DeliverySystemDescriptorTag: {
if (Setup.UpdateChannels >= 5) {
for (cChannel *Channel = Channels.First(); Channel; Channel = Channels.Next(Channel)) {
int Source = cSource::FromData(cSource::stTerr);
if (!Channel->GroupSep() && Channel->Source() == Source && Channel->Nid() == ts.getOriginalNetworkId() && Channel->Tid() == ts.getTransportStreamId()) {
SI::T2DeliverySystemDescriptor *td = (SI::T2DeliverySystemDescriptor *)d;
int Frequency = Channel->Frequency();
int SymbolRate = Channel->Srate();
//int SystemId = td->getSystemId();
cDvbTransponderParameters dtp(Channel->Parameters());
dtp.SetSystem(DVB_SYSTEM_2);
dtp.SetStreamId(td->getPlpId());
if (td->getExtendedDataFlag()) {
static int T2Bandwidths[] = { 8000000, 7000000, 6000000, 5000000, 10000000, 1712000, 0, 0 };
dtp.SetBandwidth(T2Bandwidths[td->getBandwidth()]);
static int T2GuardIntervals[] = { GUARD_INTERVAL_1_32, GUARD_INTERVAL_1_16, GUARD_INTERVAL_1_8, GUARD_INTERVAL_1_4, GUARD_INTERVAL_1_128, GUARD_INTERVAL_19_128, GUARD_INTERVAL_19_256, 0 };
dtp.SetGuard(T2GuardIntervals[td->getGuardInterval()]);
static int T2TransmissionModes[] = { TRANSMISSION_MODE_2K, TRANSMISSION_MODE_8K, TRANSMISSION_MODE_4K, TRANSMISSION_MODE_1K, TRANSMISSION_MODE_16K, TRANSMISSION_MODE_32K, TRANSMISSION_MODE_AUTO, TRANSMISSION_MODE_AUTO };
dtp.SetTransmission(T2TransmissionModes[td->getTransmissionMode()]);
//TODO add parsing of frequencies
}
Channel->SetTransponderData(Source, Frequency, SymbolRate, dtp.ToString('T'));
}
}
}
}
break;
default: ;
}
}
break;
default: ;
}
delete d;
}
}
Channels.Unlock();
}
