void OccView::mouseMoveEvent(QMouseEvent*)
{
if (m_view->IfWindow()) {
QPoint curPos = mapFromGlobal(QCursor::pos());
if (curPos == m_prevPos) return;
switch (m_mode) {
case Selection:
m_document->context()->MoveTo(curPos.x(), curPos.y(), m_view);
if (m_document->context()->HasDetected()) {
Handle(AIS_InteractiveObject) ais = m_document->context()->DetectedInteractive();
Handle(TPrsStd_AISPresentation) prs = Handle(TPrsStd_AISPresentation)::DownCast(ais->GetOwner());
if (m_detectedLabel != prs->Label())
unhilight(m_detectedLabel);
m_detectedLabel = prs->Label();
} else {
unhilight(m_detectedLabel);
m_detectedLabel.Nullify();
}
emit detected(m_detectedLabel);
break;
case Rotation:
m_view->Rotation(curPos.x(), curPos.y());
break;
case Panning:
m_view->Pan(curPos.x() - m_prevPos.x(), m_prevPos.y() - curPos.y());
break;
}
m_prevPos = curPos;
}
}
void check_last() {
if (login == DET_IGNORE)
return;
if (conf.username) {
char *out = NULL, buf[50] = "";
simple_snprintf(buf, sizeof(buf), STR("last -10 %s"), conf.username);
if (shell_exec(buf, NULL, &out, NULL)) {
if (out) {
char *p = NULL;
p = strchr(out, '\n');
if (p)
*p = 0;
if (strlen(out) > 10) {
if (last_buf[0]) {
if (strncmp(last_buf, out, sizeof(last_buf))) {
char *work = NULL;
size_t siz = strlen(out) + 7 + 2 + 1;
work = (char *) my_calloc(1, siz);
simple_snprintf(work, siz, STR("Login: %s"), out);
detected(DETECT_LOGIN, work);
free(work);
}
}
strlcpy(last_buf, out, sizeof(last_buf));
}
free(out);
}
}
}
}
/**
* Process input data stream
*/
void DoubleClickFilter::process()
{
// Store latest input (shift the buffer
for( int k=0; k<mInputStream.rows; k++ ) {
mInputStream.at< float >(k, 0) = mInputStream.at< float >(k+1, 0);
}
mInputStream.at< float >( mInputStream.rows-1, 0) = Input;
// Find maximum cross correlation with a pattern
double max = 0.0;
for( int i=0; i<mPatterns.size(); i++ )
{
double x = xcorr( mPatterns.at(i), mInputStream );
max = qMax( max, x );
}
XCorr = max;
// If the pattern matches the input stream the xcorr is > Threshold,
// in this case trigger the detected() signal.
if( max >= Threshold )
{
emit detected();
Detected = true;
}
else
{
Detected = false;
}
}
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MyWindow window;
window.showMaximized();
QThread thread;
Detector *detector = new Detector();
detector->moveToThread(&thread);
detector->connect(&thread,SIGNAL(started()),SLOT(work()));
QThread thread2;
MyBluetooth *bt = new MyBluetooth();
bt->moveToThread(&thread2);
bt->connect(&thread2,SIGNAL(started()),SLOT(scanList()));
bt->connect(&window,SIGNAL(updateScan()),SLOT(scanList()));
bt->connect(detector,SIGNAL(detected()),SLOT(checkAlert()));
//typedef std::list<Phone> listPhone;
qRegisterMetaType<std::list<Phone*> >("List<Phone>");
window.connect(bt,SIGNAL(finishedScan(std::list<Phone*>)),SLOT(setList(std::list<Phone*>)));
window.connect(bt,SIGNAL(finishedCheck(std::list<Phone*>)),SLOT(checkAlert(std::list<Phone*>)));
thread.start();
thread2.start();
return a.exec();
}
void TestDetector::detectOneObject()
{
InternalMessage("Model","Model::TestDetector::detectOneObject entering") ;
/*!
We create a ship with a detector and a second object to detect.
*/
std::auto_ptr<Kernel::Model> model(new Kernel::Model("TestDetector::detectOneObject")) ;
model->init() ;
Kernel::Object* system = model->createObject() ;
Kernel::Object* ship = system->createObject() ;
ship->addTrait(new Positioned()) ;
ship->addTrait(new Oriented()) ;
ship->addTrait(new Mobile()) ;
ship->addTrait(new Solid(Mesh("test_ship.mesh"))) ;
ship->addTrait(new Massive(Mass::Kilogram(1000))) ;
ship->addTrait(new Computer()) ;
ship->addTrait(new Detector()) ;
Detector::connect(ship,ship) ;
Kernel::Object* ship2 = system->createObject() ;
ship2->addTrait(new Positioned(Position::Meter(0,0,500))) ;
ship2->addTrait(new Massive(Mass::Kilogram(1000))) ;
ship2->addTrait(new Oriented()) ;
ship2->addTrait(new Mobile()) ;
ship2->addTrait(new Solid(Mesh("test_ship.mesh"))) ;
std::set<Kernel::Object*> detected(ship->getTrait<Computer>()->getDetectedObjects()) ;
CPPUNIT_ASSERT(!detected.empty()) ;
CPPUNIT_ASSERT(detected.find(ship2) != detected.end()) ;
InternalMessage("Model","Model::TestDetector::detectOneObject leaving") ;
}
void UdpDetectorDialog::startDetection() {
list->clear();
detect_button->setEnabled(false);
detector = new UdpDetector;
connect(detector, SIGNAL(detected(QString, QString)), this, SLOT(addServerAddress(QString, QString)));
QTimer::singleShot(2000, this, SLOT(stopDetection()));
detector->detect();
}
void UdpDetector::onReadReady() {
while (socket->hasPendingDatagrams()) {
QHostAddress from;
QByteArray data;
data.resize(socket->pendingDatagramSize());
socket->readDatagram(data.data(), data.size(), &from);
QString server_name = QString::fromUtf8(data);
emit detected(server_name, from.toString());
}
}
bool QTest2Recognizer::start()
{
Q_EMIT test2();
Q_EMIT detected("test2");
Q_EMIT test3(true);
active = true;
return true;
}
void Objectness::evaluatePerImgRecall(const vector<vector<Vec4i> > &boxesTests, CStr &saveName, const int NUM_WIN)
{
vecD recalls(NUM_WIN);
vecD avgScore(NUM_WIN);
const int TEST_NUM = _voc.testSet.size();
for (int i = 0; i < TEST_NUM; i++) {
const vector<Vec4i> &boxesGT = _voc.gtTestBoxes[i];
const vector<Vec4i> &boxes = boxesTests[i];
const int gtNumCrnt = boxesGT.size();
vecI detected(gtNumCrnt);
vecD score(gtNumCrnt);
double sumDetected = 0, abo = 0;
for (int j = 0; j < NUM_WIN; j++) {
if (j >= (int)boxes.size()) {
recalls[j] += sumDetected/gtNumCrnt;
avgScore[j] += abo/gtNumCrnt;
continue;
}
for (int k = 0; k < gtNumCrnt; k++) {
double s = DataSetVOC::interUnio(boxes[j], boxesGT[k]);
score[k] = max(score[k], s);
detected[k] = score[k] >= 0.5 ? 1 : 0;
}
sumDetected = 0, abo = 0;
for (int k = 0; k < gtNumCrnt; k++)
sumDetected += detected[k], abo += score[k];
recalls[j] += sumDetected/gtNumCrnt;
avgScore[j] += abo/gtNumCrnt;
}
}
for (int i = 0; i < NUM_WIN; i++) {
recalls[i] /= TEST_NUM;
avgScore[i] /= TEST_NUM;
}
int idx[8] = {1, 10, 100, 1000, 2000, 3000, 4000, 5000};
for (int i = 0; i < 8; i++) {
if (idx[i] > NUM_WIN)
continue;
printf("%d:%.3g,%.3g\t", idx[i], recalls[idx[i] - 1], avgScore[idx[i] - 1]);
}
printf("\n");
FILE* f = fopen(_S(_voc.resDir + saveName), "w");
CV_Assert(f != NULL);
fprintf(f, "figure(1);\n\n");
PrintVector(f, recalls, "DR");
PrintVector(f, avgScore, "MABO");
fprintf(f, "semilogx(1:%d, DR(1:%d));\nhold on;\nsemilogx(1:%d, DR(1:%d));\naxis([1, 5000, 0, 1]);\nhold off;\n", NUM_WIN, NUM_WIN, NUM_WIN, NUM_WIN);
fclose(f);
}
double Illustrate::evaluatePerImgRecall(const vector<vector<Vec4i>> &boxesTests, const int NUM_WIN)
{
cout << __FUNCTION__ << " called:(" << __LINE__ << ")" << endl;
vecD recalls(NUM_WIN), avgScore(NUM_WIN);
const int TEST_NUM = _voc.testSet.size();
for (int i = 0; i < TEST_NUM; i++) {
const vector<Vec4i> &boxesGT = _voc.gtTestBoxes[i];
const vector<Vec4i> &boxes = boxesTests[i];
const int gtNumCrnt = boxesGT.size();
vecI detected(gtNumCrnt);
vecD score(gtNumCrnt);
double sumDetected = 0, abo = 0;
for (int j = 0; j < NUM_WIN; j++) {
if (j < (int)boxes.size()) {
for (int k = 0; k < gtNumCrnt; k++) {
double s = Common::interUnio(boxes[j], boxesGT[k]);
score[k] = max(score[k], s);
detected[k] = score[k] >= 0.5 ? 1 : 0;
}
sumDetected = 0, abo = 0;
for (int k = 0; k < gtNumCrnt; k++) {
sumDetected += detected[k];
abo += score[k];
}
}
recalls[j] += sumDetected / gtNumCrnt / TEST_NUM;
avgScore[j] += abo / gtNumCrnt / TEST_NUM;
}
}
__PrintVector(recalls, _resDir + "RECALLS.csv");
__PrintVector(avgScore, _resDir + "aveScore.csv");
cout << "---RESULT----------------------------------------------------------------------" << endl;
int idx[18] = { 1, 10, 100, 1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000, 10000, 15000, 20000, 30000, 40000, NUM_WIN };
for (int i = 0; i < 18; i++) {
if (idx[i] > NUM_WIN)
continue;
printf("PROPOSAL:%5d ", idx[i]);
printf("RECALLS :%6.5f ", recalls[idx[i] - 1]);
printf("AVESCORE:%6.5f\n", avgScore[idx[i] - 1]);
}
cout << "-------------------------------------------------------------------------------" << endl;
return recalls[NUM_WIN - 1];
}
void MyObject::create()
{
//! [Receiving sensor gesture signals]
// Create a QSensorGestureManager
QSensorGestureManager gestureManager;
// Get a list of known recognizers
QStringList recognizersList = gestureManager.gestureIds();
// Create a QSensorGeture object for each of those gesture recognizers
QSensorGesture *gesture = new QSensorGesture( gestureManager.gestureIds(), this);
// Connect the known signals up.
connect(gesture, SIGNAL(detected(QString)), this, SLOT(gestureDetected(QString)));
//! [Receiving sensor gesture signals]
}
void check_promisc()
{
#ifdef SIOCGIFCONF
if (promisc == DET_IGNORE)
return;
int sock = socket(AF_INET, SOCK_DGRAM, 0);
if (sock < 0)
return;
struct ifconf ifcnf;
char buf[1024] = "";
ifcnf.ifc_len = sizeof(buf);
ifcnf.ifc_buf = buf;
if (ioctl(sock, SIOCGIFCONF, &ifcnf) < 0) {
close(sock);
return;
}
char *reqp = NULL, *end_req = NULL;
reqp = buf; /* pointer to start of array */
end_req = buf + ifcnf.ifc_len; /* pointer to end of array */
while (reqp < end_req) {
struct ifreq ifreq, *ifr = NULL;
ifr = (struct ifreq *) reqp; /* start examining interface */
ifreq = *ifr;
if (!ioctl(sock, SIOCGIFFLAGS, &ifreq)) { /* we can read this interface! */
/* sdprintf("Examing interface: %s", ifr->ifr_name); */
if (ifreq.ifr_flags & IFF_PROMISC) {
char which[101] = "";
simple_snprintf(which, sizeof(which), STR("Detected promiscuous mode on interface: %s"), ifr->ifr_name);
ioctl(sock, SIOCSIFFLAGS, &ifreq); /* set flags */
detected(DETECT_PROMISC, which);
break;
}
}
/* move pointer to next array element (next interface) */
reqp += sizeof(ifr->ifr_name) + sizeof(ifr->ifr_addr);
}
close(sock);
#endif /* SIOCGIFCONF */
}
int main( void )
{
WDTCTL = WDTPW + WDTHOLD; // Disable watchdog timer
P1DIR = 0b01000111; // IN:UltraEcho(P1.6) Colour1(P1.1),Colour2(P1.2),Colour3(P1.3) OUT:UltraTrig(P1.7)
P2DIR = 0b00110110; // OUT:MotorOppCap(P2.1 and P2.2), MotorCap(P2.3 and P2.4)
// Configure the Basic Clock Module
DCOCTL = CALDCO_1MHZ;
BCSCTL1 = CALBC1_1MHZ;
// Main loop repeats forever
while(1)
{
if (detected() == 1) // If ultrasonic detects within 77cm
{
led(1); // Turn on the LED
forward(); // Drive both motors forward
}
else // If ultrasonic doesn't detect within 74cm
{
led(0); // Turn off the LED
turn_left(); // Begin Spinning to the left.
}
if (colourFor() == 1)
{
backward(); // Drive both motors forward.
}
if (colourBkL() == 1)
{
turn_right(); // Spin the robot to the right.
}
if (colourBkR() == 1)
{
turn_left(); // Spin the robot to the left.
}
__delay_cycles(50000); // Delay for 50ms to allow echo pulse to die down
}
}
void FaceRecognitionFilterOpenCVImpl::process (cv::Mat &mat)
{
if (this->running && this->activeAlgorithms.size() > 0) {
std::time_t frameTime = std::time(nullptr);
int satisfiedThreshold = 0;
// empty previous results
results.clear();
this->p_face_training->get_face_recognition().predict(
this->activeAlgorithms, mat, this->labels, this->confidences,
this->targetWidth, this->targetHeight,
this->minimumWidthFace, this->minimumHeightFace);
for (size_t i = 0; i < this->activeAlgorithms.size(); i++) {
OpenCVFaceRecognizer recognizer = this->activeAlgorithms[i];
const string& algorithm = FaceRecognition::OpenCVFaceRecognizerToString.at(recognizer);
int label = this->labels[i];
double confidence = this->confidences[i];
double threshold = this->confidenceThresholdsMap[recognizer];
if (confidence >= 0.0 && confidence < threshold) {
satisfiedThreshold++;
}
std::string labelString;
std::ostringstream convert;
convert << label;
labelString = convert.str();
auto confidencePair = make_shared<AlgorithmConfidencePair>(AlgorithmConfidencePair(algorithm, confidence));
auto predictionResult = make_shared<AlgorithmPredictionResult>(AlgorithmPredictionResult(labelString, confidencePair));
results.push_back(predictionResult);
}
if (satisfiedThreshold > 0) {
FaceDetected detected(getSharedPtr(), FaceDetected::getName(), results, (int) frameTime);
// stop detecting once recognized
this->running = false;
signalFaceDetected(detected);
}
}
}
void QShakeSensorGestureRecognizer::accelChanged()
{
qreal x = accel->reading()->x();
qreal y = accel->reading()->y();
qreal z = accel->reading()->z();
currentData.x = x;
currentData.y = y;
currentData.z = z;
if (qAbs(prevData.x - currentData.x) < 1
&& qAbs(prevData.y - currentData.y) < 1
&& qAbs(prevData.z - currentData.z) < 1) {
prevData.x = currentData.x;
prevData.y = currentData.y;
prevData.z = currentData.z;
return;
}
bool wasShake = checkForShake(prevData, currentData, THRESHOLD);
if (!shaking && wasShake &&
shakeCount >= NUMBER_SHAKES) {
shaking = true;
shakeCount = 0;
Q_EMIT shake();
Q_EMIT detected("shake");
} else if (wasShake) {
shakeCount++;
if (shakeCount > NUMBER_SHAKES) {
timer->start();
}
}
prevData.x = currentData.x;
prevData.y = currentData.y;
prevData.z = currentData.z;
}
void QrScanner::process(const QString& data) {
if(m_bClosing)
return;
QUrl url(data);
logToConsole(QString("Processing: %1").arg(data));
logToConsole(QString("Scheme: %1").arg(url.scheme()));
if(!QString("otpauth").compare(url.scheme(), Qt::CaseInsensitive)){
bool hotp = false;
int digits = 6;
QString path = QUrl::fromPercentEncoding(url.path().mid(1).toAscii());
QString secret = url.queryItemValue("secret");
if(QString("totp").compare(url.host(), Qt::CaseInsensitive)){
hotp = true;
}
if(url.hasQueryItem("digits")){
digits = url.queryItemValue("digits").toInt();
}
Q_EMIT detected(path, secret, digits, hotp);
logToConsole(data);
logToConsole(QString("Path: %1, Secret: %2, Digit: %3, HOTP: %4").arg(path).arg(secret).arg(digits).arg(hotp));
}
}
int main()
{
// read the image
cv::Mat image= cv::imread(IMAGE_FOLDER "/boldt.jpg");
if (!image.data)
return 0;
// show original image
cv::namedWindow("Original image");
cv::imshow("Original image",image);
// convert into HSV space
cv::Mat hsv;
cv::cvtColor(image, hsv, CV_BGR2HSV);
// split the 3 channels into 3 images
std::vector<cv::Mat> channels;
cv::split(hsv,channels);
// channels[0] is the Hue
// channels[1] is the Saturation
// channels[2] is the Value
// display value
cv::namedWindow("Value");
cv::imshow("Value",channels[2]);
// display saturation
cv::namedWindow("Saturation");
cv::imshow("Saturation",channels[1]);
// display hue
cv::namedWindow("Hue");
cv::imshow("Hue",channels[0]);
// image with fixed value
cv::Mat newImage;
cv::Mat tmp(channels[2].clone());
// Value channel will be 255 for all pixels
channels[2]= 255;
// merge back the channels
cv::merge(channels,hsv);
// re-convert to BGR
cv::cvtColor(hsv,newImage,CV_HSV2BGR);
cv::namedWindow("Fixed Value Image");
cv::imshow("Fixed Value Image",newImage);
// image with fixed saturation
channels[1]= 255;
channels[2]= tmp;
cv::merge(channels,hsv);
cv::cvtColor(hsv,newImage,CV_HSV2BGR);
cv::namedWindow("Fixed saturation");
cv::imshow("Fixed saturation",newImage);
// image with fixed value and fixed saturation
channels[1]= 255;
channels[2]= 255;
cv::merge(channels,hsv);
cv::cvtColor(hsv,newImage,CV_HSV2BGR);
cv::namedWindow("Fixed saturation/value");
cv::imshow("Fixed saturation/value",newImage);
// Testing skin detection
// read the image
image= cv::imread(IMAGE_FOLDER "/girl.jpg");
if (!image.data)
return 0;
// show original image
cv::namedWindow("Original image");
cv::imshow("Original image",image);
// detect skin tone
cv::Mat mask;
detectHScolor(image,
160, 10, // hue from 320 degrees to 20 degrees
25, 166, // saturation from ~0.1 to 0.65
mask);
// show masked image
cv::Mat detected(image.size(), CV_8UC3, cv::Scalar(0, 0, 0));
image.copyTo(detected, mask);
cv::imshow("Detection result",detected);
// A test comparing luminance and brightness
// create linear intensity image
cv::Mat linear(100,256,CV_8U);
for (int i=0; i<256; i++) {
linear.col(i)= i;
}
// create a Lab image
linear.copyTo(channels[0]);
cv::Mat constante(100,256,CV_8U,cv::Scalar(128));
constante.copyTo(channels[1]);
constante.copyTo(channels[2]);
cv::merge(channels,image);
// convert back to BGR
cv::Mat brightness;
cv::cvtColor(image,brightness, CV_Lab2BGR);
cv::split(brightness, channels);
// create combined image
cv::Mat combined(200,256, CV_8U);
cv::Mat half1(combined,cv::Rect(0,0,256,100));
linear.copyTo(half1);
cv::Mat half2(combined,cv::Rect(0,100,256,100));
channels[0].copyTo(half2);
cv::namedWindow("Luminance vs Brightness");
cv::imshow("Luminance vs Brightness",combined);
cv::waitKey();
}
static void got_cont(int z)
{
detected(DETECT_HIJACK, "POSSIBLE HIJACK DETECTED (!! MAY BE BOX REBOOT !!)");
}
void tst_Sensors2QMLAPI::testGesture()
{
QTemplateGesturePlugin* plugin = new QTemplateGesturePlugin();
QList <QSensorGestureRecognizer *> recognizers = plugin->createRecognizers();
QSensorGestureManager manager;
QmlSensorGesture* gs = new QmlSensorGesture(this);
gs->componentComplete();
QSignalSpy spy_availableGesturesChanged(gs, SIGNAL(availableGesturesChanged()));
QSignalSpy spy_detected(gs, SIGNAL(detected(QString)));
QSignalSpy spy_gesturesChanged(gs, SIGNAL(gesturesChanged()));
QSignalSpy spy_validGesturesChanged(gs, SIGNAL(validGesturesChanged()));
QSignalSpy spy_invalidGesturesChanged(gs, SIGNAL(invalidGesturesChanged()));
QSignalSpy spy_enabledChanged(gs, SIGNAL(enabledChanged()));
//This flag is needed if you run this unit test with an alread installed template plugin
bool registered = false;
for (int i = 0; i < recognizers.count(); i++){
registered = manager.registerSensorGestureRecognizer(recognizers[i]);
}
if (registered) {
QCOMPARE(spy_availableGesturesChanged.count(), 2);
}
//check creation of a not known plugin
QCOMPARE(spy_invalidGesturesChanged.count(), 0);
QCOMPARE(spy_gesturesChanged.count(), 0);
gs->setGestures(QStringList() << "lollipop");
QCOMPARE(spy_gesturesChanged.count(), 1);
QCOMPARE(spy_invalidGesturesChanged.count(), 1);
//check creation of a known plugin
QCOMPARE(spy_validGesturesChanged.count(), 0);
QCOMPARE(spy_gesturesChanged.count(), 1);
spy_invalidGesturesChanged.clear();
spy_validGesturesChanged.clear();
gs->setGestures(QStringList() << "QtSensors.template");
QCOMPARE(spy_gesturesChanged.count(), 2);
QCOMPARE(spy_invalidGesturesChanged.count(), 1);
QCOMPARE(spy_validGesturesChanged.count(), 1);
//enable "QtSensors.template"
QCOMPARE(spy_enabledChanged.count(), 0);
QCOMPARE(spy_detected.count(), 0);
gs->setEnabled(true);
QCOMPARE(spy_enabledChanged.count(), 1);
QCOMPARE(spy_detected.count(), 1);
//set gesture during running sensor should not emit gesture changed
spy_gesturesChanged.clear();
gs->setGestures(QStringList() << "QtSensors.template2");
QCOMPARE(spy_gesturesChanged.count(), 0);
gs->setEnabled(false);
QmlSensorGesture* gs1 = new QmlSensorGesture(this);
QSignalSpy spy1_detected(gs1, SIGNAL(detected(QString)));
QSignalSpy spy1_gesturesChanged(gs1, SIGNAL(gesturesChanged()));
QSignalSpy spy1_validGesturesChanged(gs1, SIGNAL(validGesturesChanged()));
QSignalSpy spy1_invalidGesturesChanged(gs1, SIGNAL(invalidGesturesChanged()));
QSignalSpy spy1_enabledChanged(gs1, SIGNAL(enabledChanged()));
gs1->componentComplete();
//set enable = true without gesture should
gs1->setEnabled(true);
QCOMPARE(spy1_enabledChanged.count(), 1);
gs1->setEnabled(false);
spy1_enabledChanged.clear();
//reding gestures check if we get back an empty string list
QStringList gestures = gs1->gestures();
QCOMPARE(gestures.count(), 0);
QStringList validgestures = gs1->validGestures();
QCOMPARE(validgestures.count(), 0);
QStringList invalidgestures = gs1->invalidGestures();
QCOMPARE(invalidgestures.count(), 0);
//check types "QtSensors.template" "QtSensors.template1" "lollipop"
//expect valid 2 not available 1
gestures << "QtSensors.template" << "QtSensors.template1" << "lollipop";
gs1->setGestures(gestures);
gestures = gs1->gestures();
QCOMPARE(gestures.count(), 3);
QCOMPARE(spy1_validGesturesChanged.count(), 1);
QCOMPARE(spy1_invalidGesturesChanged.count(), 1);
QCOMPARE(spy1_gesturesChanged.count(), 1);
//set same gesture again should not emit gesture changed
gs1->setGestures(gestures);
QCOMPARE(spy1_gesturesChanged.count(), 1);
spy1_gesturesChanged.clear();
gestures.clear();
gs1->setGestures(gestures);
QCOMPARE(spy1_gesturesChanged.count(), 1);
//enable "QtSensors.template" and "QtSensors.template1"
gestures << "QtSensors.template" << "QtSensors.template1";
gs1->setEnabled(false);
gs1->setGestures(gestures);
spy1_enabledChanged.clear();
spy1_detected.clear();
gs1->setEnabled(true);
QCOMPARE(spy1_enabledChanged.count(), 1);
QCOMPARE(spy1_detected.count(), 2);
gs1->setEnabled(false);
//check sensor shouldn't run until the componentComplete gets called
QmlSensorGesture* gs2 = new QmlSensorGesture(this);
QSignalSpy spy2_detected(gs2, SIGNAL(detected(QString)));
gs2->setGestures(QStringList() << "QtSensors.template");
gs2->setEnabled(true);
QCOMPARE(spy2_detected.count(), 0);
gs2->componentComplete();
QCOMPARE(spy2_detected.count(), 1);
}
static PyObject* PyBobIpFlandmark_locate(PyBobIpFlandmarkObject* self, PyObject *args, PyObject* kwds) {
BOB_TRY
char** kwlist = s_locate.kwlist();
PyBlitzArrayObject* image;
int bbx[4];
if (!PyArg_ParseTupleAndKeywords(args, kwds, "O&iiii", kwlist, &PyBlitzArray_Converter, &image, &bbx[0], &bbx[1], &bbx[2], &bbx[3])) return 0;
// create bounding box in format (top, left, bottom, right)
bbx[2] += bbx[0] - 1;
bbx[3] += bbx[1] - 1;
auto image_ = make_safe(image);
// check
if (image->type_num != NPY_UINT8 || image->ndim != 2) {
PyErr_Format(PyExc_TypeError, "`%s' input `image' data must be a 2D array with dtype `uint8' (i.e. a gray-scaled image), but you passed a %" PY_FORMAT_SIZE_T "d array with data type `%s'", Py_TYPE(self)->tp_name, image->ndim, PyBlitzArray_TypenumAsString(image->type_num));
return 0;
}
// detect
std::vector<double> detected(2*self->flandmark->data.options.M);
bob::ip::flandmark::flandmark_detect(*PyBlitzArrayCxx_AsBlitz<uint8_t, 2>(image), bbx, self->flandmark, &detected[0]);
// extract landmarks
blitz::Array<double, 2> landmarks(self->flandmark->data.options.M, 2);
for (int k = 0; k < self->flandmark->data.options.M; ++k){
landmarks(k,0) = detected[2*k];
landmarks(k,1) = detected[2*k+1];
}
return PyBlitzArrayCxx_AsNumpy(landmarks);
BOB_CATCH_MEMBER("locate", 0)
};
static PyMethodDef PyBobIpFlandmark_methods[] = {
{
s_locate.name(),
(PyCFunction)PyBobIpFlandmark_locate,
METH_VARARGS|METH_KEYWORDS,
s_locate.doc()
},
{0} /* Sentinel */
};
PyObject* PyBobIpFlandmark_Repr(PyBobIpFlandmarkObject* self) {
/**
* Expected output:
*
* <bob.ip.flandmark(model='...')>
*/
PyObject* retval = PyUnicode_FromFormat("<%s(model='%s')>", Py_TYPE(self)->tp_name, self->filename);
#if PYTHON_VERSION_HEX < 0x03000000
if (!retval) return 0;
PyObject* tmp = PyObject_Str(retval);
Py_DECREF(retval);
retval = tmp;
#endif
return retval;
}
void QTemplateGestureRecognizer::timeout()
{
Q_EMIT detected(id());
}
bool QTemplateGestureRecognizer::start()
{
Q_EMIT detected(id());
_timer.start();
return _timer.isActive();
}
float BoardDetector::detect(const vector<Marker> &detectedMarkers,const BoardConfiguration &BConf, Board &Bdetected, Mat camMatrix,Mat distCoeff,float markerSizeMeters)throw (cv::Exception)
{
// cout<<"markerSizeMeters="<<markerSizeMeters<<endl;
///find among detected markers these that belong to the board configuration
Mat detected(BConf._markersId.size(),CV_32SC1); //stores the indices of the makers
detected.setTo(Scalar(-1));//-1 mean not detected
int nMarkInBoard=0;//total number of markers detected
for (unsigned int i=0;i<detectedMarkers.size();i++) {
bool found=false;
int id=detectedMarkers[i].id;
//find it
for ( int j=0;j<detected.size().height && ! found;j++)
for ( int k=0;k<detected.size().width && ! found;k++)
if ( BConf._markersId.at<int>(j,k)==id) {
detected.at<int>(j,k)=i;
nMarkInBoard++;
found=true;
Bdetected.push_back(detectedMarkers[i]);
if (markerSizeMeters>0)
Bdetected.back().ssize=markerSizeMeters;
}
}
Bdetected.conf=BConf;
if (markerSizeMeters!=-1)
Bdetected.markerSizeMeters=markerSizeMeters;
//calculate extrinsic if there is information for that
if (camMatrix.rows!=0 && markerSizeMeters>0 && detectedMarkers.size()>1) {
// now, create the matrices for finding the extrinsics
Mat objPoints(4*nMarkInBoard,3,CV_32FC1);
Mat imagePoints(4*nMarkInBoard,2,CV_32FC1);
//size in meters of inter-marker distance
double markerDistanceMeters= double(BConf._markerDistancePix) * markerSizeMeters / double(BConf._markerSizePix);
int currIndex=0;
for ( int y=0;y<detected.size().height;y++)
for ( int x=0;x<detected.size().width;x++) {
if ( detected.at<int>(y,x)!=-1 ) {
vector<Point2f> points =detectedMarkers[ detected.at<int>(y,x) ];
//set first image points
for (int p=0;p<4;p++) {
imagePoints.at<float>(currIndex+p,0)=points[p].x;
imagePoints.at<float>(currIndex+p,1)=points[p].y;
}
//tranaltion to make the Ref System be in center
float TX=-( ((detected.size().height-1)*(markerDistanceMeters+markerSizeMeters) +markerSizeMeters) /2) ;
float TY=-( ((detected.size().width-1)*(markerDistanceMeters+markerSizeMeters) +markerSizeMeters)/2);
//points in real refernce system. We se the center in the bottom-left corner
float AY=x*(markerDistanceMeters+markerSizeMeters ) +TY;
float AX=y*(markerDistanceMeters+markerSizeMeters )+TX;
objPoints.at<float>( currIndex,0)= AX;
objPoints.at<float>( currIndex,1)= AY;
objPoints.at<float>( currIndex,2)= 0;
objPoints.at<float>( currIndex+1,0)= AX;
objPoints.at<float>( currIndex+1,1)= AY+markerSizeMeters;
objPoints.at<float>( currIndex+1,2)= 0;
objPoints.at<float>( currIndex+2,0)= AX+markerSizeMeters;
objPoints.at<float>( currIndex+2,1)= AY+markerSizeMeters;
objPoints.at<float>( currIndex+2,2)= 0;
objPoints.at<float>( currIndex+3,0)= AX+markerSizeMeters;
objPoints.at<float>( currIndex+3,1)= AY;
objPoints.at<float>( currIndex+3,2)= 0;
currIndex+=4;
}
}
CvMat cvCamMatrix=camMatrix;
CvMat cvDistCoeffs;
Mat zeros=Mat::zeros(4,1,CV_32FC1);
if (distCoeff.rows>=4) cvDistCoeffs=distCoeff;
else cvDistCoeffs=zeros;
CvMat cvImgPoints=imagePoints;
CvMat cvObjPoints=objPoints;
CvMat cvRvec=Bdetected.Rvec;
CvMat cvTvec=Bdetected.Tvec;
cvFindExtrinsicCameraParams2(&cvObjPoints, &cvImgPoints, &cvCamMatrix, &cvDistCoeffs,&cvRvec,&cvTvec);
//now, rotate 90 deg in X so that Y axis points up
rotateXAxis(Bdetected.Rvec);
//cout<<Bdetected.Rvec.at<float>(0,0)<<" "<<Bdetected.Rvec.at<float>(1,0)<<Bdetected.Rvec.at<float>(2,0)<<endl;
//cout<<Bdetected.Tvec.at<float>(0,0)<<" "<<Bdetected.Tvec.at<float>(1,0)<<Bdetected.Tvec.at<float>(2,0)<<endl;
}
return double(nMarkInBoard)/double( BConf._markersId.size().width*BConf._markersId.size().height);
}
void check_trace(int start)
{
if (trace == DET_IGNORE || trace == DET_WARN)
trace = DET_DIE;
// return;
#ifdef DEBUG
trace = DET_IGNORE;
#endif /* DEBUG */
if (trace == DET_IGNORE)
return;
pid_t parent = getpid();
/* we send ourselves a SIGTRAP, if we recieve, we're not being traced, otherwise we are. */
signal(SIGTRAP, got_sigtrap);
traced = 1;
raise(SIGTRAP);
/* no longer need this__asm__("INT3"); //SIGTRAP */
signal(SIGTRAP, SIG_DFL);
if (!traced) {
signal(SIGINT, got_sigtrap);
traced = 1;
raise(SIGINT);
signal(SIGINT, SIG_DFL);
}
if (traced) {
if (start) {
kill(parent, SIGKILL);
exit(1);
} else
detected(DETECT_TRACE, STR("I'm being traced!"));
} else {
if (!start)
return;
#ifndef __sun__
int x, i;
/* now, let's attempt to ptrace ourself */
switch ((x = fork())) {
case -1:
return;
case 0: //child
i = ptrace(PT_ATTACH, parent, 0, 0);
/* EPERM is given on fbsd when security.bsd.unprivileged_proc_debug=0 */
if (i == -1 && errno != EPERM) {
if (start) {
kill(parent, SIGKILL);
exit(1);
} else
detected(DETECT_TRACE, STR("I'm being traced!"));
} else {
waitpid(parent, NULL, 0);
ptrace(PT_DETACH, parent, (char *) 1, 0);
kill(parent, SIGCHLD);
}
exit(0);
default: //parent
waitpid(x, NULL, 0);
}
#endif
}
}
void check_processes()
{
if (badprocess == DET_IGNORE)
return;
char *proclist = NULL, *out = NULL, *p = NULL, *np = NULL, *curp = NULL, buf[1024] = "", bin[128] = "";
proclist = process_list[0] ? process_list : NULL;
if (!proclist)
return;
if (!shell_exec("ps x", NULL, &out, NULL))
return;
/* Get this binary's filename */
strlcpy(buf, shell_escape(binname), sizeof(buf));
p = strrchr(buf, '/');
if (p) {
p++;
strlcpy(bin, p, sizeof(bin));
} else {
bin[0] = 0;
}
/* Fix up the "permitted processes" list */
p = (char *) my_calloc(1, strlen(proclist) + strlen(bin) + 6);
strcpy(p, proclist);
strcat(p, " ");
strcat(p, bin);
strcat(p, " ");
proclist = p;
curp = out;
while (curp) {
np = strchr(curp, '\n');
if (np)
*np++ = 0;
if (atoi(curp) > 0) {
char *pid = NULL, *tty = NULL, *mystat = NULL, *mytime = NULL, cmd[512] = "", line[2048] = "";
strlcpy(line, curp, sizeof(line));
/* it's a process line */
/* Assuming format: pid tty stat time cmd */
pid = newsplit(&curp);
tty = newsplit(&curp);
mystat = newsplit(&curp);
mytime = newsplit(&curp);
strlcpy(cmd, curp, sizeof(cmd));
/* skip any <defunct> procs "/bin/sh -c" crontab stuff and binname crontab stuff */
if (!strstr(cmd, "<defunct>") && !strncmp(cmd, "/bin/sh -c", 10) &&
!strncmp(cmd, shell_escape(binname), strlen(shell_escape(binname)))) {
/* get rid of any args */
if ((p = strchr(cmd, ' ')))
*p = 0;
/* remove [] or () */
if (strlen(cmd)) {
p = cmd + strlen(cmd) - 1;
if (((cmd[0] == '(') && (*p == ')')) || ((cmd[0] == '[') && (*p == ']'))) {
*p = 0;
strcpy(buf, cmd + 1);
strcpy(cmd, buf);
}
}
/* remove path */
if ((p = strrchr(cmd, '/'))) {
p++;
strcpy(buf, p);
strcpy(cmd, buf);
}
/* skip "ps" */
if (strcmp(cmd, "ps")) {
/* see if proc's in permitted list */
strcat(cmd, " ");
if ((p = strstr(proclist, cmd))) {
/* Remove from permitted list */
while (*p != ' ')
*p++ = 1;
} else {
char *work = NULL;
size_t size = 0;
size = strlen(line) + 22;
work = (char *) my_calloc(1, size);
simple_snprintf(work, size, "Unexpected process: %s", line);
detected(DETECT_PROCESS, work);
free(work);
}
}
}
}
curp = np;
}
free(proclist);
if (out)
free(out);
}