K _0m(K a) {
I t=a->t; P(4!=t && 3!=ABS(t), TE)
I b=0,s=0; S v=0; K z=0; S m; if(3==ABS(t))m=CSK(a);
struct stat sb; I ff=0;
if(3==ABS(t) && strcmp(m,"/dev/fd/0") && strcmp(m,"/dev/stdin") ){
if(stat(m,&sb)==-1)R FE;
if((sb.st_mode & S_IFMT)==S_IFIFO)ff=1;}
if(ff){ //read FIFO
I fn,i,j; C buf[256]; z=newK(0,0);
fn= open(m, O_RDONLY);
while (read(fn,&buf,256)>0) {
j=256; K y=0;
for(i=0;i<256;i++){
if(i>j){buf[j]='\0'; break;}
if(buf[i]=='\r'||buf[i]=='\n')j=i; }
I n=strlen(buf); y=newK(n<2?3:-3,n);
memcpy(kC(y),&buf,n); kap(&z,&y); cd(y); }
GC; }
else if( 4==t && !**kS(a) ){
char ss[300]; S adr=fgets(ss,sizeof(ss),stdin); if(adr==NULL)R newK(6,1); //read stdin 0:`
I i,j; for(i=0;i<300;++i){if(ss[i]=='\012')break;}
I k=0; for(j=0;j<=i;j++){if(ss[j]!='\004')ss[k++]=ss[j];}
z=newK(-3,k-1); for(j=0;j<k-1;++j){kC(z)[j]=ss[j];}
GC; }
else if( (3==ABS(t) && (!strcmp(m,"/dev/fd/0") || !strcmp(m,"/dev/stdin"))) //read stdin
|| 4==t && (!strcmp(*kS(a),"/dev/fd/0") || !strcmp(*kS(a),"/dev/stdin")) ){
b=getdelim_(&v,&s,EOF,stdin);
P(freopen_stdin() == NULL, FE)
if(b==-1){z=newK(0,0); GC;} }
K kclone(K a)//Deep copy -- eliminate where possible
{
if(!a) R 0;
I t=a->t,n=a->n;
K z= 7==t?Kv():newK(t,n);
if (4==ABS(t)) DO(n, kS(z)[i]=kS(a)[i]) //memcpy everywhere is better
else if(3==ABS(t)) DO(n, kC(z)[i]=kC(a)[i])
else if(2==ABS(t)) DO(n, kF(z)[i]=kF(a)[i])
else if(1==ABS(t)) DO(n, kI(z)[i]=kI(a)[i])
else if(0== t ) DO(n, kK(z)[i]=kclone(kK(a)[i]))
else if(5== t ) DO(n, kK(z)[i]=kclone(kK(a)[i]))
else if(7== t )
{
I k=0;
z->t=a->t;
I vt=z->n = a->n;
K kv;
V*v;
SW(vt)
{
CS(1, k=((K)kV(a)[CODE])->n-1;
M(z,kv=newK(-4,k+1))
v=(V*)kK(kv);
//v[k]=0;//superfluous reminder
DO(k, V w=kW(a)[i];
if(VA(w))v[i]=w; //TODO: is this ok for NAMES? see similar code in capture()
else
{
K r=kclone(*(K*)w); //oom
V q=newE(LS,r); //oom
kap((K*) kV(z)+LOCALS,&q);//oom
cd(q);//kap does ci
q=EVP(q); //oom free z etc. kap needs checking
v[i]=q;
}
)
)
CS(2, M(z,kv=newK(-4,3))
v=(V*)kK(kv);
memcpy(v,kW(a),3*sizeof(V));
)
K times(K a, K b)//TODO: Float results will respect intermediate OI or Oi. Other functions too. (& casts.)
{
SCALAR_INIT(2)
K z=newK(zt,zn);U(z)
#define TIMES(x, y) ((x) * (y))
SCALAR_OP(TIMES,times)
#undef TIMES
R z;
}
K mod(K a, K b) //In K4: {x-y*x div y}
{
I at=a->t, an=a->n, bt=b->t;
P(ABS(at) > 2,TE)
//Know bt in 1,2 and at in -2,-1,0,1,2
I t=(0==at)?0:MAX(ABS(at),ABS(bt))*(at>0?1:-1);
K z=newK(t,an); U(z)
I c,d,e; F f,g,h;
#define FMOD h=g?f-g*floor(f/g):f; kF(z)[i]=h;
if (2==ABS(at) && 2==bt) { g=*kF(b); DO(an, f=kF(a)[i]; FMOD) }
K plus(K a, K b) //compare plus() to times() or minus()
{
SCALAR_INIT(2)
K z=newK(zt,zn);U(z) //Finally, we know what we're going to make
#define PLUS(x, y) ((x) + (y))
SCALAR_OP(PLUS,plus)
#undef PLUS
R z;
}
TEST_F(fisheyeTest, DISABLED_undistortImage)
{
cv::Matx33d theK = this->K;
cv::Mat theD = cv::Mat(this->D);
std::string file = combine(datasets_repository_path, "/calib-3_stereo_from_JY/left/stereo_pair_014.jpg");
cv::Matx33d newK = theK;
cv::Mat distorted = cv::imread(file), undistorted;
{
newK(0, 0) = 100;
newK(1, 1) = 100;
cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "new_f_100.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_f_100.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
{
double balance = 1.0;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(theK, theD, distorted.size(), cv::noArray(), newK, balance);
cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_1.0.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_1.0.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
{
double balance = 0.0;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(theK, theD, distorted.size(), cv::noArray(), newK, balance);
cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_0.0.png"));
if (correct.empty())
CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_0.0.png"), undistorted));
else
EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
}
}
K _0m(K a)
{
I t=a->t;
P(4!=t && 3!=ABS(t), TE)
I b=0,s=0;
S v=0;
K z;
if(4==t && !**kS(a)){
b=getdelim_(&v,&s,EOF,stdin);
P(freopen_stdin() == NULL, FE)
if(b==-1){z=newK(0,0); GC;}
}
K grade_updown(K a, I r)
{
I at=a->t, an=a->n;
P(0< at, RE)
if(-4==at)R symGrade(a,r);
if(-3==at)R charGrade(a,r);
if(-1==at||-2==at){
K z;
if(an<2){z=newK(-1,an);M(z);DO(an,kI(z)[i]=i);R z;}
else{
K x=0;uI y,u=(uI)-1,v=0,h=0,k;//MIN,MAX
if(-2==at){x=newK(-1,an);M(x);}
//trst();
//elapsed("x=newK");
if(-1==at)DO(an,y=kI(a)[i];h|=y;if(y<u)u=y;if(y>v)v=y)
else DO(an,kU(x)[i]=(y=FtoI(kF(a)[i]));h|=y;if(y<u)u=y;if(y>v)v=y)
//elapsed("fill x");
//O("u:%016llx v:%016llx\n",u,v);
if((r&&-1==at)||((u&MSB)!=(v&MSB))){
u=(uI)-1;v=0;h=0;
if(-1==at){
x=newK(-1,an);M(x);
DO(an,kU(x)[i]=(y=ItoU(kI(a)[i]));h|=y;if(y<u)u=y;if(y>v)v=y)}
else DO(an,kU(x)[i]=(y=ItoU(kI(x)[i]));h|=y;if(y<u)u=y;if(y>v)v=y)}
K mod(K a, K b) //In K4: {x-y*x div y}
{
I at=a->t, an=a->n, bt=b->t;
P(ABS(at) > 2,TE)
//Know bt in 1,2 and at in -2,-1,0,1,2
I t=(0==at)?0:MAX(ABS(at),ABS(bt))*(at>0?1:-1);
K z=newK(t,an); U(z)
I c,d,e; F f,g,h;
#if __INT_MAX__ == 2147483647
F ct=1e-13; // Comparison tolerance for 32 bit
#else
F ct=0; // Not needed for 64 bit
#endif
#define FMOD h=g?f-g*floor(ct+f/g):f; kF(z)[i]=(ABS(h)>ct)?h:0;
if (2==ABS(at) && 2==bt) { g=*kF(b); DO(an, f=kF(a)[i]; FMOD) }
K read_tape(I i, I type) // type in {0,1} -> {select loop, 4: resp reader}
{
I c=CP[i].r, m=sizeof(M1),g; K z=0;
S b = c<m?c+(S)&CP[i].m1:c+kC(CP[i].k);
g = c<m?m-c:CP[i].m1.n;
I nbytes = recv(i,b,g,0);
if(nbytes <= 0)
{
if (nbytes == 0);//printf("server: socket %ld hung up\n", i);
else perror("recv");
GC;
}
//fill struct data + k data
CP[i].r += nbytes; //DO(nbytes, O("b%ld : %o\n",i,(UC)b[i]))
if(m == CP[i].r) //We've read enough bytes to fill our struct m1 with transmission data (it's also the _db header)
{
//TODO: so that we get the right sizes, etc, in the M1, rearrange bytes based on little-endianness indicator CP[i].m1.a
//if(sizeof(M1)+CP[i].m1.n > 987654321) GC; //protect against too big?
K k = newK(-3, m+CP[i].m1.n);
if(!(CP[i].k=k))GC;
memcpy(kC(k),&CP[i].m1,m); //cpy data from our struct to the corresponding spot on the '_bd' object
}
if(CP[i].r == m + CP[i].m1.n) //the k for the _db is completed. perform modified execution, potentially respond
{
//TODO: (here or in _db?) rearrange bytes based on little-endianness indicator CP[i].m1.a
M1*p=(V)kC(CP[i].k);
I msg_type = p->d; //p->d dissappears after wipe_tape
K h = _db(CP[i].k);
if(!h) GC;
wipe_tape(i);
//blocking read inside 4: receives response //response sent by server to client after a 4: request is not executed by client
if(2==msg_type && 1==type) R h;
//Modified execution of received K value. First received transmission in a 3: or 4:
z=modified_execute(h);
cd(h);
//indicates received communication from 4: synchronous method which expects response
if(z) if(1==msg_type && 0==type) ksender(i,z,2);
cd(z); z=0;
}
R z;
cleanup:
close_tape(i);
R (K)-1;
}
//TODO: for derived verbs like +/ you can add the sub-pieces in parallel
Z K overDyad(K a, V *p, K b)
{
V *o=p-1; K(*f)(K,K);
K k=0;
if(VA(*o) && (f=DT[(L)*o].alt_funcs.verb_over))k=f(a,b); //k==0 just means not handled. Errors are not set to come from alt_funcs
P(k,k)
K u=0,v=0;
K y=a?v=join(u=enlist(a),b):b; //oom u (TODO: need to unroll to 'x f/y' and 'f/y' to optimize?)
K z=0,g=0;
if(yt > 0){z=ci(y); GC;}
if(yn == 0){if(VA(*o))z=LE; GC; } //Some verbs will handle this in alt_funcs
K c=first(y),d;//mm/o
//TODO: this reuse of g should be implemented in other adverbs
if(0 >yt) DO(yn-1, d=c; if(!g)g=newK(ABS(yt),1); memcpy(g->k,((V)y->k)+(i+1)*bp(yt),bp(yt)); c=dv_ex(d,p-1,g); if(2==g->c){cd(g);g=0;} cd(d); if(!c) GC;) //TODO: oom err/mmo unwind above - oom-g
if(0==yt) DO(yn-1, d=c; c=dv_ex(d,p-1,kK(y)[i+1]); cd(d); if(!c) GC;) //TODO: err/mmo unwind above
K power(K a, K b)
{
I at=a->t, an=a->n, bt=b->t, bn=b->n;
I type = MAX(ABS(at),ABS(bt));
P(at <= 0 && bt <= 0 && an != bn, LE)
P(type > 2, TE);
I zt=type;
if(MIN(at,bt) < 1) zt=-zt;
if(!at || !bt) zt=0;
if(1==zt*zt)zt*=2;
I zn=at>0?bn:an;
K z=newK(zt,zn); U(z)
F x,y;
//K3.2 silently yields 0n for -3^0.5 , even though some Kx documentation says domain error.
#define FPOWER kF(z)[i]=(0==y)?1:(0==x)?0:pow(x,y); //x^0==1; 0^y==0 for y!=0; rest should be same as pow
SCALAR_EXPR(FPOWER,power,x,y)
R z;
}
K gi(I x) {K z=newK(1,1); Ki(z)=x; R z;}
K gc(C x) {K z=newK(3,1); Kc(z)=x; R z;}
K gs(S x) {K z=newK(4,1); Ks(z)=x; R z;}
K gn() {K z=newK(6,1); R z;}
K gf(F x) {K z=newK(2,1); Kf(z)=x; R z;}
K gtn(I t, I n) { R newK(t,n); }