// ######################################################################
int main(const int argc, const char **argv)
{
MYLOGVERB = LOG_INFO; // suppress debug messages
volatile int signum = 0;
catchsignals(&signum);
ModelManager manager("Test Motion Energy");
nub::ref<InputFrameSeries> ifs(new InputFrameSeries(manager));
manager.addSubComponent(ifs);
nub::ref<OutputFrameSeries> ofs(new OutputFrameSeries(manager));
manager.addSubComponent(ofs);
nub::ref<FoeDetector> fd(new FoeDetector(manager));
manager.addSubComponent(fd);
if (manager.parseCommandLine((const int)argc, (const char**)argv,
"<stimuli> <options>", 0, 9) == false)
return(1);
fd->reset(NUM_PYR_LEVEL, NUM_DIRS, NUM_SPEEDS);
std::string stimuli("Image");
if(manager.numExtraArgs() > 0)
stimuli = manager.getExtraArgAs<std::string>(0);
LINFO("Stimuli: %s", stimuli.c_str());
manager.start();
Timer timer(1000000);
timer.reset(); // reset the timer
int frame = 0;
PauseWaiter p;
uint step; step = 0;
// to get to the good part
//for(uint i = 0; i < 50; i++) //was 25
// ifs->updateNext();
// get ground truth file
std::string gtFilename
("/lab/tmpib/u/siagian/neuroscience/Data/FOE/driving_nat_Browning.txt");
std::vector<Point2D<int> > gt = getGT(gtFilename);
int ldpos = gtFilename.find_last_of('.');
std::string prefix = gtFilename.substr(0, ldpos);
// for finding ground truth
rutz::shared_ptr<XWinManaged> win;
float totalErr = 0.0;
std::vector<std::string> args;
for(uint i = 0; i < manager.numExtraArgs(); i++)
args.push_back(manager.getExtraArgAs<std::string>(i));
Image<byte> prevLum;
Image<PixRGB<byte> > prevImage;
Image<PixRGB<byte> > prevImage2;
while (1)
{
if (signum != 0)
{
LINFO("quitting because %s was caught", signame(signum));
break;
}
if (ofs->becameVoid())
{
LINFO("quitting because output stream was closed or became void");
break;
}
if (p.checkPause())
continue;
const FrameState is = ifs->updateNext();
if (is == FRAME_COMPLETE) break; // done receiving frames
Image< PixRGB<byte> > input = ifs->readRGB();
if(frame == 0)
{
uint width = input.getWidth();
uint height = input.getHeight();
win.reset(new XWinManaged(Dims(width, height), 0, 0, "GT"));
}
// empty image signifies end-of-stream
if (!input.initialized()) break;
Image<byte> lum = luminance(input);
Point2D<float> pshift(0.0,0.0);
if(step != 0)
{
// calculate planar shift using SIFT
lum = calculateShift(lum,prevLum, ofs);
}
if( manager.numExtraArgs() > 0)
lum = getImage(stimuli, args, fd, step);
// for saving videos
prevImage2 = prevImage;
prevImage = input;
if (!lum.initialized()) break; step++;
// compute the focus of expansion (FOE)
Point2D<int> foe = fd->getFoe(lum, FOE_METHOD_TEMPLATE, false);
//Point2D<int> foe = fd->getFoe(lum, FOE_METHOD_AVERAGE);
LINFO("[%d]Foe: %d %d", frame, foe.i, foe.j);
// illustration of the size of the receptive field
if(!stimuli.compare("ShowRF"))
{
uint rfI = 44;
uint rfJ = 152;
lum.setVal(rfI, rfJ, 300.0F);
drawRect(lum, Rectangle::tlbrI(144,36,159,51), byte(255));
drawRect(lum, Rectangle::tlbrI(148,40,155,47), byte(255));
drawRect(lum, Rectangle::tlbrI(rfJ-8, rfI-8, rfJ+8, rfI+8), byte(255));
drawRect(lum, Rectangle::tlbrI(rfJ-16,rfI-16,rfJ+16,rfI+16), byte(255));
}
ofs->writeGrayLayout(fd->getMTfeaturesDisplay(lum), "MT Features",
FrameInfo("motion energy output images", SRC_POS));
// write the file
if(frame >= 4)
{
float err = foe.distance(gt[frame-2]);
totalErr += err;
LINFO("Foe: %d %d: GT: %d %d --> %f --> avg: %f",
foe.i, foe.j, gt[frame-2].i, gt[frame-2].j,
err, totalErr/(frame-3));
Image<PixRGB<byte> > simg = prevImage2;
drawCross(simg, foe , PixRGB<byte>(0,255,0), 10, 2);
drawCross(simg, gt[frame-2], PixRGB<byte>(255,0,0), 10, 2);
win->drawImage(simg,0,0);
//Raster::WriteRGB(simg, sformat("%s_STnPS_%06d.ppm", prefix.c_str(), frame-2));
}
//ofs->writeGrayLayout
// (lum, "test-FOE Main", FrameInfo("foe output", SRC_POS));
const FrameState os = ofs->updateNext();
//LINFO("frame[%d]: %8.3f %8.3f", frame, pshift.i, pshift.j);
Raster::waitForKey();
if (os == FRAME_FINAL)
break;
prevLum = lum;
frame++;
}
LINFO("%d frames in %gs (%.2ffps)\n",
frame, timer.getSecs(), frame / timer.getSecs());
// stop all our ModelComponents
manager.stop();
// all done!
return 0;
}
/*
* Append a character to the line buffer.
* Expand tabs into spaces, handle underlining, boldfacing, etc.
* Returns 0 if ok, 1 if couldn't fit in buffer.
*/
int
pappend(char c, off_t pos)
{
int r;
if (pendc) {
if (do_append(pendc, NULL, pendpos))
/*
* Oops. We've probably lost the char which
* was in pendc, since caller won't back up.
*/
return (1);
pendc = '\0';
}
if (c == '\r' && bs_mode == BS_SPECIAL) {
if (mbc_buf_len > 0) /* utf_mode must be on. */ {
/* Flush incomplete (truncated) sequence. */
r = flush_mbc_buf(mbc_pos);
mbc_buf_index = r + 1;
mbc_buf_len = 0;
if (r)
return (mbc_buf_index);
}
/*
* Don't put the CR into the buffer until we see
* the next char. If the next char is a newline,
* discard the CR.
*/
pendc = c;
pendpos = pos;
return (0);
}
if (!utf_mode) {
r = do_append((LWCHAR) c, NULL, pos);
} else {
/* Perform strict validation in all possible cases. */
if (mbc_buf_len == 0) {
retry:
mbc_buf_index = 1;
*mbc_buf = c;
if (IS_ASCII_OCTET(c)) {
r = do_append((LWCHAR) c, NULL, pos);
} else if (IS_UTF8_LEAD(c)) {
mbc_buf_len = utf_len(c);
mbc_pos = pos;
return (0);
} else {
/* UTF8_INVALID or stray UTF8_TRAIL */
r = flush_mbc_buf(pos);
}
} else if (IS_UTF8_TRAIL(c)) {
mbc_buf[mbc_buf_index++] = c;
if (mbc_buf_index < mbc_buf_len)
return (0);
if (is_utf8_well_formed(mbc_buf))
r = do_append(get_wchar(mbc_buf), mbc_buf,
mbc_pos);
else
/* Complete, but not shortest form, sequence. */
mbc_buf_index = r = flush_mbc_buf(mbc_pos);
mbc_buf_len = 0;
} else {
/* Flush incomplete (truncated) sequence. */
r = flush_mbc_buf(mbc_pos);
mbc_buf_index = r + 1;
mbc_buf_len = 0;
/* Handle new char. */
if (!r)
goto retry;
}
}
/*
* If we need to shift the line, do it.
* But wait until we get to at least the middle of the screen,
* so shifting it doesn't affect the chars we're currently
* pappending. (Bold & underline can get messed up otherwise.)
*/
if (cshift < hshift && column > sc_width / 2) {
linebuf[curr] = '\0';
pshift(hshift - cshift);
}
if (r) {
/* How many chars should caller back up? */
r = (!utf_mode) ? 1 : mbc_buf_index;
}
return (r);
}
/*
* Terminate the line in the line buffer.
*/
void
pdone(int endline, int forw)
{
(void) pflushmbc();
if (pendc && (pendc != '\r' || !endline))
/*
* If we had a pending character, put it in the buffer.
* But discard a pending CR if we are at end of line
* (that is, discard the CR in a CR/LF sequence).
*/
(void) do_append(pendc, NULL, pendpos);
/*
* Make sure we've shifted the line, if we need to.
*/
if (cshift < hshift)
pshift(hshift - cshift);
if (ctldisp == OPT_ONPLUS && is_ansi_end('m')) {
/* Switch to normal attribute at end of line. */
char *p = "\033[m";
for (; *p != '\0'; p++) {
linebuf[curr] = *p;
attr[curr++] = AT_ANSI;
}
}
/*
* Add a newline if necessary,
* and append a '\0' to the end of the line.
* We output a newline if we're not at the right edge of the screen,
* or if the terminal doesn't auto wrap,
* or if this is really the end of the line AND the terminal ignores
* a newline at the right edge.
* (In the last case we don't want to output a newline if the terminal
* doesn't ignore it since that would produce an extra blank line.
* But we do want to output a newline if the terminal ignores it in case
* the next line is blank. In that case the single newline output for
* that blank line would be ignored!)
*/
if (column < sc_width || !auto_wrap || (endline && ignaw) ||
ctldisp == OPT_ON) {
linebuf[curr] = '\n';
attr[curr] = AT_NORMAL;
curr++;
} else if (ignaw && column >= sc_width && forw) {
/*
* Terminals with "ignaw" don't wrap until they *really* need
* to, i.e. when the character *after* the last one to fit on a
* line is output. But they are too hard to deal with when they
* get in the state where a full screen width of characters
* have been output but the cursor is sitting on the right edge
* instead of at the start of the next line.
* So we nudge them into wrapping by outputting a space
* character plus a backspace. But do this only if moving
* forward; if we're moving backward and drawing this line at
* the top of the screen, the space would overwrite the first
* char on the next line. We don't need to do this "nudge"
* at the top of the screen anyway.
*/
linebuf[curr] = ' ';
attr[curr++] = AT_NORMAL;
linebuf[curr] = '\b';
attr[curr++] = AT_NORMAL;
}
linebuf[curr] = '\0';
attr[curr] = AT_NORMAL;
}
void
pshift_all(void)
{
pshift(column);
}
