void RectifyStereo::loadParam(const char* fileName){
ifstream if_in(fileName);
if (!if_in.is_open())
{
isLoadCameraParam = false;
cout << "load parameters error!" << endl;
return;
}
if_in >> calibData;
if_in.close();
calRemapMatrix();
isLoadCameraParam = true;
for (int i = 0; i < 2; i++)
for (int j = 0; j < 2; j++)
{
if (remapM[i][j].empty())
isLoadCameraParam = false;
}
}
int judge(int push[],int pop[],int n){
int i=0,j=0,k=-1,foot=0,result=1;
int stack[n];
for(i;i<n;i++){
int top = pop[i];
printf("top is %d\n",top);
int flag=0;
flag=if_in(top,stack,n);
if(flag==0){
for(j;j<n;j++){
if(j<foot)
continue;//从第foot个数开始把push元素添加到stack中，直到遇到top
stack[++k]=push[j];
if (push[j]==top){
printf("%dand%dand%d\n",j,top,k);
foot=j+1;
stack[k]=0;//同时把top出栈
k--;
break;
}
}
printf("k=%d\n",k);
}
else{
if(k<0)
break;
printf("top:%d;stack[k]:%d;k:%d\n",top,stack[k],k);
if(top!=stack[k]){//如果stack的出栈元素跟pop不一样返回0
result=0;
break;
}
else{
stack[k]=0;
k--;
}
}
}
return result;
}
/*==================================================*
* MAIN *
*==================================================*/
int main() {
char cmd[LINESIZE];
int i=0,j=0,b=0;
int cmdfull;
int n_quote;
while(strcmp(cmd, "exit")!=0) {
printf("ve482sh $> ");
gets(cmd);
if(strcmp(cmd,"exit")==0) {
return 0;
}
cmdfull=0;
//if(cmd[0]!='\n'&&cmd[0]!=0){
// size=strlen(cmd);
//}
n_quote=0;
//------------------------------------------------------
// Deal with quotes
//------------------------------------------------------
if(cmd[0]!=0 && cmd[0]!='\n') {
for(i=0; i<strlen(cmd); i++) {
if(cmd[i]==34&&n_quote!=1) { //34: double-quote
n_quote=2;
memmove(&cmd[i],&cmd[i+1],strlen(cmd)-i);
for(j=i; j<strlen(cmd); j++) {
if(cmd[j]==34) {
cmdfull=1;
}
}
while(cmdfull==0) {
printf("> ");
char cmdadd[300];
gets(cmdadd);
for(b=0; b<300; b++) {
if(cmdadd[b]==34) {
cmdfull=1;
break;
}
}
b=0;
char *r=malloc(strlen(cmd)+strlen(cmdadd)+1);
strcpy(r,cmd);
strcat(r,"\n");
strcat(r,cmdadd);
strcpy(cmd,r);
free(r);
}
}
else if(cmd[i]==39&&n_quote!=2) { //39: single quote
n_quote=1;
memmove(&cmd[i],&cmd[i+1],strlen(cmd)-i);
for(j=i; j<strlen(cmd); j++) {
if(cmd[j]==39) {
cmdfull=1;
}
}
while(cmdfull==0) {
printf("> ");
char cmdadd[300];
gets(cmdadd);
for(b=0; b<300; b++) {
if(cmdadd[b]==39) {
cmdfull=1;
break;
}
}
b=0;
char *r=malloc(strlen(cmd)+strlen(cmdadd)+1);
strcpy(r,cmd);
strcat(r,"\n");
strcat(r,cmdadd);
strcpy(cmd,r);
free(r);
}
}
else if(cmd[i]=='>') {
for(j=i+1; i<strlen(cmd); j++) {
if(!cmd[j]) {
break;
}
if(cmd[j]>30&&cmd[j]<126) {
cmdfull=1;
break;
}
}
while(cmdfull==0) {
printf("> ");
char cmdadd[300];
gets(cmdadd);
for(b=0; b<300; b++) {
if(cmdadd[b]!=32&&cmdadd[b]!=0&&cmdadd[j]!='\n') {
cmdfull=1;
break;
}
if(cmdadd[b]==0) {
break;
}
}
b=0;
char *r=malloc(strlen(cmd)+strlen(cmdadd)+1);
strcpy(r,cmd);
strcat(r,cmdadd);
strcpy(cmd,r);
free(r);
}
}
}
char *cm[2];
//char *substring="|";
char *arglis[100];
char *arglis2[100];
cm[0]=strtok(cmd,"|");
cm[1]=strtok(NULL,"|");
//printf("%s,%s\n",cm[0],cm[1] );
i=0;
j=0;
if(cm[1]!=NULL) {
while(cm[1][i]!='\0'&& cm[1][i]!='\n') {
if(cm[1][i]==' ') {
j++;
}
else if(cm[1][i]=='x') {
if(cm[1][i+1]=='a' && cm[1][i+2]=='r' && cm[1][i+3]=='g' && cm[1][i+4]=='s') {
j=j+5;
}
if(cm[1][i+5]==' ') {
j++;
}
}
else {
break;
}
i++;
}
i=0;
while(cm[1][i]) {
cm[1][i]=cm[1][i+j];
i++;
}
}
i=0;
/*================If there is no pipe.================*/
if(!cm[1]) {
//printf("ifin, ifout %s: %i,%i\n",cm[0],if_in(cm[0]),if_out(cm[0]));
if(if_out(cm[0])!=0) {
Output2file(cm[0],if_out(cm[0]));
}
else if(if_in(cm[0])==1) {
Input2file(cm[0]);
}
else {
arglis[0]=strtok(cm[0], " ");
while(arglis[i]!=NULL) {
i++;
arglis[i]=strtok(NULL," ");
if(arglis[i]!=NULL) {
if(arglis[i][0]=='"') {
int ll=strlen(arglis[i]);
if(arglis[i][ll-1]=='"') {
memmove(&arglis[i][0],&arglis[i][1],ll);
arglis[i][ll-2]=0;
}
}
}
}
//--------------------------------------------
// Deal with cd
//---------------------------------------------
int result;
if(strcmp(arglis[0],"cd")==0) {
if(arglis[1]) {
if(strcmp(arglis[1],"~")==0) {
result=chdir(getenv("HOME"));
}
else {
result=chdir(arglis[1]);
}
}
else {
result=chdir(getenv("HOME"));
}
if(result<0) {
printf("cd: No such file or directory\n");
}
}
else {
pid_t pid;
pid = fork();
if(pid<0) {
fprintf(stderr, "Fork failed.\n");
return 1;
}
else if(pid==0) {
execvp(arglis[0],arglis);
perror("Error");
}
else {
wait(NULL);
}
}
}
}
/*================If there is a pipe.================*/
else {
char *program1=cm[0], *program2=cm[1];
char *file1, *file2;
char *write_type2="w+";
int type1=0,type2=0;
file1=NULL;
file2=NULL;
if(if_out(cm[1])!=0) {
type2=1;
if(if_out(cm[1])==1) {
program2=strtok(cm[1],">");
file2=strtok(NULL,">");
}
else {
program2=strtok(cm[1],">>");
file2=strtok(NULL,">>");
write_type2="a+";
}
}
if(if_in(cm[0])==1) {
type1=2;
program1=strtok(cm[0],"<");
file1=strtok(NULL,"<");
if(file1==NULL) {
printf("bash: syntax error near unexpected token 'newline'\n");
}
}
if(file2!=NULL) {
file2=rmspace(file2);
}
if(file1!=NULL) {
file1=rmspace(file1);
}
//printf("program1, program2: %s,%s \n",program1,program2);
//printf("file1, file2:%s,%s\n",file1,file2 );
//printf("type1,2 %i,%i\n", type1,type2);
i=0;
arglis[0]=strtok(program1, " ");
while(arglis[i]!=NULL) {
i++;
arglis[i]=strtok(NULL," ");
if(arglis[i]!=NULL) {
if(arglis[i][0]=='"') {
int ll=strlen(arglis[i]);
if(arglis[i][ll-1]=='"') {
memmove(&arglis[i][0],&arglis[i][1],ll);
arglis[i][ll-2]=0;
}
}
}
}
i=0;
arglis2[0]=strtok(program2," ");
while(arglis2[i]!=NULL) {
i++;
arglis2[i]=strtok(NULL," ");
if(arglis2[i]!=NULL) {
if(arglis2[i][0]=='"') {
int ll=strlen(arglis2[i]);
if(arglis2[i][ll-1]=='"') {
memmove(&arglis2[i][0],&arglis2[i][1],ll);
arglis2[i][ll-2]=0;
}
}
}
}
int fd[2];
if(pipe(fd)<0) {
perror("Pipe failed.");
return 1;
}
pid_t pid1, pid2;
pid1=fork();
if(pid1<0) {
fprintf(stderr, "Fork failed.\n");
}
else if(pid1==0) {
if(type1==2) { //command 1 has "<"
FILE *in1=fopen(file1,"r");
dup2(fileno(in1),STDIN_FILENO);
fclose(in1);
//close(STDOUT);
dup2(fd[1],STDOUT);
close(fd[0]);
if((execvp(arglis[0],arglis))<0) {
perror("Error");
return 1;
}
}
else {
//close(STDOUT);
dup2(fd[1],STDOUT);
close(fd[0]);
if((execvp(arglis[0],arglis))<0) {
perror("Error");
return 1;
}
}
}
else {
wait(NULL);
}
close(fd[1]);
pid2=fork();
if(pid2<0) {
fprintf(stderr, "Fork failed.\n");
return 1;
}
else if(pid2==0) {
if(type2==1) { //command has 2 ">" or ">>"
//printf("write_type2:%s,file2:%s\n",write_type2,file2);
FILE *out2=fopen(file2,write_type2);
dup2(fileno(out2),STDOUT_FILENO);
fclose(out2);
//close(STDIN);
dup2(fd[0],STDIN);
close(fd[1]);
if((execvp(arglis2[0],arglis2))<0) {
perror("Error");
return 1;
}
}
else {
//close(STDIN);
dup2(fd[0],STDIN);
close(fd[1]);
if((execvp(arglis2[0],arglis2))<0) {
perror("Error");
return 1;
}
}
}
else {
wait(NULL);
}
close(fd[0]);
close(fd[1]);
waitpid(pid1,NULL,0);
waitpid(pid2,NULL,0);
}
}
}
return 0;
}
