static sp<AMessage> getMeasureFormat(
bool isEncoder, const AString &mime, const sp<MediaCodecInfo::Capabilities> &caps) {
sp<AMessage> format = new AMessage();
format->setString("mime", mime);
if (isEncoder) {
int32_t bitrate = 0;
getMeasureBitrate(caps, &bitrate);
format->setInt32("bitrate", bitrate);
format->setInt32("encoder", 1);
}
if (mime.startsWith("video/")) {
int32_t width = 0;
int32_t height = 0;
if (!getMeasureSize(caps, &width, &height)) {
return NULL;
}
format->setInt32("width", width);
format->setInt32("height", height);
Vector<uint32_t> colorFormats;
caps->getSupportedColorFormats(&colorFormats);
if (colorFormats.size() == 0) {
return NULL;
}
format->setInt32("color-format", colorFormats[0]);
format->setFloat("frame-rate", 10.0);
format->setInt32("i-frame-interval", 10);
} else {
// TODO: profile hw audio
return NULL;
}
return format;
}
ObserverBase::StateVector KalmanFilterBase::oneStepEstimation_()
{
unsigned k=this->x_.getTime();
BOOST_ASSERT(this->y_.size()> 0 && this->y_.checkIndex(k+1) && "ERROR: The measurement vector is not set");
BOOST_ASSERT(checkAmatrix(a_) && "ERROR: The Matrix A is not initialized" );
BOOST_ASSERT(checkCmatrix(c_) && "ERROR: The Matrix C is not initialized");
BOOST_ASSERT(checkQmatrix(q_) && "ERROR: The Matrix Q is not initialized");
BOOST_ASSERT(checkRmatrix(r_) && "ERROR: The Matrix R is not initialized");
BOOST_ASSERT(checkPmatrix(pr_) && "ERROR: The Matrix P is not initialized");
//prediction
updatePredictedMeasurement();// runs also updatePrediction_();
oc_.pbar=q_;
oc_.pbar.noalias() += a_*(pr_*a_.transpose());
//innovation Measurements
oc_.inoMeas.noalias() = this->y_[k+1] - predictedMeasurement_;
oc_.inoMeasCov.noalias() = r_ + c_ * (oc_.pbar * c_.transpose());
//inversing innovation measurement covariance matrix
oc_.inoMeasCovLLT.compute(oc_.inoMeasCov);
oc_.inoMeasCovInverse.resize(getMeasureSize(),getMeasureSize());
oc_.inoMeasCovInverse.setIdentity();
oc_.inoMeasCovLLT.matrixL().solveInPlace(oc_.inoMeasCovInverse);
oc_.inoMeasCovLLT.matrixL().transpose().solveInPlace(oc_.inoMeasCovInverse);
//innovation
oc_.kGain.noalias() = oc_.pbar * (c_.transpose() * oc_.inoMeasCovInverse);
inovation_.noalias() = oc_.kGain*oc_.inoMeas;
//update
oc_.xhat.noalias()= oc_.xbar+ inovation_;
#ifdef VERBOUS_KALMANFILTER
Eigen::IOFormat CleanFmt(2, 0, " ", "\n", "", "");
std::cout <<"A" <<std::endl<< a_.format(CleanFmt)<<std::endl;
std::cout <<"C" <<std::endl<< c_.format(CleanFmt)<<std::endl;
std::cout <<"P" <<std::endl<< pr_.format(CleanFmt)<<std::endl;
std::cout <<"K" <<std::endl<< oc_.kGain.format(CleanFmt)<<std::endl;
std::cout <<"Xbar" <<std::endl<< oc_.xbar.transpose().format(CleanFmt)<<std::endl;
std::cout <<"inoMeasCov" <<std::endl<< oc_.inoMeasCov.format(CleanFmt)<<std::endl;
std::cout <<"oc_.pbar" <<std::endl<< (oc_.pbar).format(CleanFmt)<<std::endl;
std::cout <<"c_ * (oc_.pbar * c_.transpose())" <<std::endl<< ( c_ * (oc_.pbar * c_.transpose())).format(CleanFmt)<<std::endl;
std::cout <<"inoMeasCovInverse" <<std::endl<< oc_.inoMeasCovInverse.format(CleanFmt)<<std::endl;
std::cout <<"inoMeas" <<std::endl<< oc_.inoMeas.transpose().format(CleanFmt)<<std::endl;
std::cout <<"inovation_" <<std::endl<< inovation_.transpose().format(CleanFmt)<<std::endl;
std::cout <<"Xhat" <<std::endl<< oc_.xhat.transpose().format(CleanFmt)<<std::endl;
#endif // VERBOUS_KALMANFILTER
this->x_.set(oc_.xhat,k+1);
pr_=oc_.stateIdentity;
pr_ -= oc_.kGain*c_;
pr_ *= oc_.pbar;
// simmetrize the pr_ matrix
oc_.t.noalias()=pr_;
oc_.t+=pr_.transpose();
pr_=0.5*oc_.t;
return oc_.xhat;
}
void printBarlines(HumdrumFile& infile, int numberheight, int numberwidth) {
int i, j;
Array<Array<int> > xaxis;
xaxis.setSize(numberheight-1);
xaxis.allowGrowth(0);
for (i=0; i<xaxis.getSize(); i++) {
xaxis[i].setSize(numberwidth);
xaxis[i].allowGrowth(0);
xaxis[i].setAll(24);
}
// bar counter keeps track of multiple repeats of the same
// music.
Array<int> barcount(10000);
barcount.allowGrowth(0);
barcount.setAll(0);
double measuresize = getMeasureSize(infile, numberwidth);
int size;
int style = 0;
int position;
int number;
for (i=0; i<infile.getNumLines(); i++) {
if (!infile[i].isMeasure()) {
continue;
}
size = 0;
position = -1;
if (sscanf(infile[i][0], "=%d", &number)) {
if ((number >= 0) && (number < barcount.getSize())) {
style = barcount[number];
barcount[number]++;
} else {
style = 0;
}
position = int(numberwidth * infile[i].getAbsBeat() /
infile.getTotalDuration() + 0.5);
if ((number % 100) == 0) {
size = 10;
} else if ((number % 50) == 0) {
size = 8;
} else if ((number % 10) == 0) {
size = 6;
} else if ((number % 5) == 0) {
size = 4;
} else {
size = 2;
if (measuresize < 3) {
// don't display single measure ticks if they
// are too closely spaced
size = 0;
}
}
}
int color;
if ((position >= 0) && (size > 0)) {
for (j=0; j<size; j++) {
if (style == 0) {
color = 25;
} else if (style == 1) {
color = 4; // red (in default color)
} else if (style == 2) {
color = 2; // blue (in default color)
} else if (style == 3) {
color = 0; // green (in default color)
} else {
color = 11; // orange (in default color)
}
xaxis[j][position] = color;
if (j==9) {
if (position>0) {
xaxis[j][position-1] = color;
}
if (position<xaxis[0].getSize()-1) {
xaxis[j][position+1] = color;
}
}
}
}
}
// print a empty line so that small measure markers can be seen
for (i=0; i<xaxis[0].getSize(); i++) {
cout << ' ' << colorindex[24];
}
cout << '\n';
for (i=0; i<xaxis.getSize(); i++) {
for (j=0; j<xaxis[i].getSize(); j++) {
cout << ' ' << colorindex[xaxis[i][j]];
}
cout << '\n';
}
}
