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I am trying to recompile an old Win32 software package in order to bring small modifications.
The package is part of the MT SDK from Xsens and allows to get output from a inertial sensor (available here https://content.xsens.com/hubfs/Downloads/Software/mtsdk3.3_setup.zip). Example of a C++ routine using a DLL file responsible for the communication with hardware is located in Program Files\Xsens\MT SDK\Software Developpement\Examples\CMT Example Dll.
From directory I recompiled the source code, linking the DLL such as
i686-w64-mingw32-g++ -o test main.cpp -L. -lxsens_cmt
It requires changing a few scanf_s calls to scanf but compiled properly into test.exe.
However, when I try to run that executable in Windows I get the following error:
enter image description here
On the net I could find recommendation to compile with the following options but none could resolve my issue :
-static
-static-libstdc++
-static-libgcc
Examples folder of the MTSDK can be downloaded here if you don't want to install the software :
https://gitlab.com/lenhofed/mtsdk_modifs.git
main.cpp
/* demo key, replace this key with your own */
#define KEY "b8r6RCoGjQJVsytwUMo8WCRiJiVCCdoL11cCj4HqnaKPHtTn"
#include <stdio.h> // Needed for printf etc
#include <objbase.h> // Needed for COM functionality
#include "xsens_cmt.h"
#include <conio.h> // included for _getch and _kbhit
#include "main.h"
// this macro tests for an error and exits the program with a message if there was one
#define EXIT_ON_ERROR(res,comment) if (res != XRV_OK) { printf("Error %d occurred in " comment ": %s\n",res,cmtGetResultText(res)); exit(1); }
long instance = -1;
// used to signal that the user initiated the exit, so we do not wait for an extra keypress-
int userQuit = 0;
CmtOutputMode mode;
CmtOutputSettings settings;
unsigned short mtCount = 0;
int screenSensorOffset = 0;
int temperatureOffset = 0;
CmtDeviceId deviceIds[256];
CmtVector positionLLA;
int main(void)
{
XsensResultValue res = XRV_OK;
short screenSkipFactor = 10;
short screenSkipFactorCnt = screenSkipFactor;
// Set exit function
atexit(exitFunc);
// lets create the Xsens CMT instance to handle the sensor(s)
printf("Creating an XsensCMT instance\n");
char serialNumber[] = KEY;
if (strcmp(serialNumber,"b8r6RCoGjQJVsytwUMo8WCRiJiVCCdoL11cCj4HqnaKPHtTn") == 0)
printf("Warning: Using the demo key as a serial code will limit CMT functionality to 1000 calls. Enter your own serial code for unlimited CMT functionality.\n");
instance = cmtCreateInstance(serialNumber);
if (instance != -1)
printf("CMT instance created\n\n");
else {
printf("Creation of CMT instance failed, probably because of an invalid serial number\n");
exit(1);
}
// Perform hardware scan
doHardwareScan();
// Give user a (short) chance to see hardware scan results
Sleep(2000);
//clear screen present & get the user output mode selection.
clrscr();
getUserInputs();
// Set device to user input settings
doMtSettings();
// Wait for first data item(s) to arrive. In production code, you would use a callback function instead (see cmtRegisterCallback function)
Sleep(20);
//get the placement offsets, clear the screen and write the fixed headers.
calcScreenOffset();
clrscr();
writeHeaders();
// vars for sample counter & temp.
unsigned short sdata;
double tdata;
//structs to hold data.
CmtCalData caldata;
CmtQuat qat_data;
CmtEuler euler_data;
CmtMatrix matrix_data;
while(!userQuit && res == XRV_OK)
{
//get the bundle of data
res = cmtGetNextDataBundle(instance);
Sleep(10);
//get sample count, goto position & display.
res = cmtDataGetSampleCounter(instance, &sdata, deviceIds[0] ,NULL);
gotoxy(0,0);
printf("Sample Counter %05hu\n", sdata);
if (screenSkipFactorCnt++ == screenSkipFactor) {
screenSkipFactorCnt = 0;
for (unsigned int i = 0; i < mtCount; i++) {
// Output Temperature
if ((mode & CMT_OUTPUTMODE_TEMP) != 0) {
gotoxy(0,4 + i * screenSensorOffset);
res = cmtDataGetTemp(instance, &tdata, deviceIds[i],NULL);
printf("%6.2f", tdata);
}
gotoxy(0,5 + temperatureOffset + i * screenSensorOffset); // Output Calibrated data
if ((mode & CMT_OUTPUTMODE_CALIB) != 0) {
res = cmtDataGetCalData(instance, &caldata, deviceIds[i]);
printf("%6.2f\t%6.2f\t%6.2f" , caldata.m_acc.m_data[0], caldata.m_acc.m_data[1], caldata.m_acc.m_data[2]);
gotoxy(0,7 + temperatureOffset + i * screenSensorOffset);
printf("%6.2f\t%6.2f\t%6.2f", caldata.m_gyr.m_data[0], caldata.m_gyr.m_data[1], caldata.m_gyr.m_data[2] );
gotoxy(0,9 + temperatureOffset + i * screenSensorOffset);
printf("%6.2f\t%6.2f\t%6.2f",caldata.m_mag.m_data[0], caldata.m_mag.m_data[1], caldata.m_mag.m_data[2]);
gotoxy(0,13 + temperatureOffset + i * screenSensorOffset);
}
if ((mode & CMT_OUTPUTMODE_ORIENT) != 0) {
switch(settings & CMT_OUTPUTSETTINGS_ORIENTMODE_MASK) {
case CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION:
// Output: quaternion
res = cmtDataGetOriQuat(instance, &qat_data, deviceIds[i]);
printf("%6.3f\t%6.3f\t%6.3f\t%6.3f\n", qat_data.m_data[0], qat_data.m_data[1],qat_data.m_data[2],qat_data.m_data[3]);
break;
case CMT_OUTPUTSETTINGS_ORIENTMODE_EULER:
// Output: Euler
res = cmtDataGetOriEuler(instance, &euler_data, deviceIds[i]);
printf("%6.1f\t%6.1f\t%6.1f\n", euler_data.m_roll,euler_data.m_pitch, euler_data.m_yaw);
break;
case CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX:
// Output: Cosine Matrix
res = cmtDataGetOriMatrix(instance, &matrix_data, deviceIds[i],NULL);
printf("%6.3f\t%6.3f\t%6.3f\n", matrix_data.m_data[0][0],matrix_data.m_data[0][1], matrix_data.m_data[0][2]);
printf("%6.3f\t%6.3f\t%6.3f\n", matrix_data.m_data[1][0],matrix_data.m_data[1][1], matrix_data.m_data[1][2]);
printf("%6.3f\t%6.3f\t%6.3f\n", matrix_data.m_data[2][0],matrix_data.m_data[2][1], matrix_data.m_data[2][2]);
break;
default:
;
}
}
if ((mode & CMT_OUTPUTMODE_POSITION) != 0) {
/* output position */
printf("\n\n");
if (cmtDataContainsPositionLLA(instance, deviceIds[i]) != 0) {
res = cmtDataGetPositionLLA(instance, &positionLLA, deviceIds[i]);
if (res != XRV_OK) {
printf("error %ud", res);
}
for (int i = 0; i < 2; i++) {
double deg = positionLLA.m_data[i];
double min = (deg - (int)deg)*60;
double sec = (min - (int)min)*60;
printf("%3d\xa7%2d\'%2.2lf\"\t", (int)deg, (int)min, sec);
}
printf(" %3.2lf\n", positionLLA.m_data[2]);
} else {
printf("No position data available\n");
}
}
}
}
if (_kbhit())
userQuit = 1;
}
clrscr();
cmtClose(instance);
return 0;
}
//////////////////////////////////////////////////////////////////////////
// doHardwareScan
//
// Checks available COM ports and scans for MotionTrackers
void doHardwareScan()
{
XsensResultValue res;
CmtPortInfo portInfo[256];
uint32_t portCount = 0;
printf("Scanning for connected Xsens devices...");
res = cmtScanPorts(portInfo, &portCount, 0);
EXIT_ON_ERROR(res,"cmtScanPorts");
printf("done\n");
if (portCount == 0) {
printf("No MotionTrackers found\n\n");
exit(0);
}
for(int i = 0; i < (int)portCount; i++) {
printf("Using COM port %d at %d baud\n\n",
(long) portInfo[i].m_portNr, portInfo[i].m_baudrate);
}
printf("Opening ports...");
//open the port which the device is connected to and connect at the device's baudrate.
for(int p = 0; p < (int)portCount; p++){
res = cmtOpenPort(instance, portInfo[p].m_portNr, portInfo[p].m_baudrate);
EXIT_ON_ERROR(res,"cmtOpenPort");
}
printf("done\n\n");
//get the Mt sensor count.
printf("Retrieving MotionTracker count (excluding attached Xbus Master(s))\n");
res = cmtGetMtCount(instance,&mtCount);
EXIT_ON_ERROR(res,"cmtGetMtCount");
printf("MotionTracker count: %i\n\n",mtCount);
// retrieve the device IDs
printf("Retrieving MotionTrackers device ID(s)\n");
for(unsigned int j = 0; j < mtCount; j++ ){
res = cmtGetMtDeviceId(instance, &deviceIds[j], j);
EXIT_ON_ERROR(res,"cmtGetDeviceId");
printf("Device ID at index %i: %08x\n",j,(long) deviceIds[j]);
}
// make sure that we get the freshest data
printf("\nSetting queue mode so that we always get the latest data\n\n");
res = cmtSetQueueMode(instance,CMT_QM_LAST);
EXIT_ON_ERROR(res,"cmtSetQueueMode");
}
//////////////////////////////////////////////////////////////////////////
// getUserInputs
//
// Request user for output data
void getUserInputs()
{
mode = 0;
while (mode < 1 || mode > 6) {
printf("Select desired output:\n");
printf("1 - Calibrated data\n");
printf("2 - Orientation data and GPS Position (MTi-G only)\n");
printf("3 - Both Calibrated and Orientation data\n");
printf("4 - Temperature and Calibrated data\n");
printf("5 - Temperature and Orientation data\n");
printf("6 - Temperature, Calibrated and Orientation data\n");
printf("Enter your choice: ");
scanf("%d", &mode);
// flush stdin
while (getchar() != '\n') continue;
if (mode < 1 || mode > 6) {
printf("\n\nPlease enter a valid output mode\n");
}
}
clrscr();
switch(mode)
{
case 1:
mode = CMT_OUTPUTMODE_CALIB;
break;
case 2:
mode = CMT_OUTPUTMODE_ORIENT | CMT_OUTPUTMODE_POSITION;
break;
case 3:
mode = CMT_OUTPUTMODE_CALIB | CMT_OUTPUTMODE_ORIENT;
break;
case 4:
mode = CMT_OUTPUTMODE_TEMP | CMT_OUTPUTMODE_CALIB;
break;
case 5:
mode = CMT_OUTPUTMODE_TEMP | CMT_OUTPUTMODE_ORIENT;
break;
case 6:
mode = CMT_OUTPUTMODE_TEMP | CMT_OUTPUTMODE_CALIB | CMT_OUTPUTMODE_ORIENT;
break;
}
if ((mode & CMT_OUTPUTMODE_ORIENT) != 0) {
do{
printf("Select desired output format\n");
printf("1 - Quaternions\n");
printf("2 - Euler angles\n");
printf("3 - Matrix\n");
printf("Enter your choice: ");
scanf("%d", &settings);
// flush stdin
while (getchar() != '\n') continue;
if (settings < 1 || settings > 3) {
printf("\n\nPlease enter a valid choice\n");
}
}while(settings < 1 || settings > 3);
// Update outputSettings to match data specs of SetOutputSettings
switch(settings) {
case 1:
settings = CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION;
break;
case 2:
settings = CMT_OUTPUTSETTINGS_ORIENTMODE_EULER;
break;
case 3:
settings = CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX;
break;
}
}
else{
settings = 0;
}
settings |= CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT;
}
//////////////////////////////////////////////////////////////////////////
// doMTSettings
//
// Set user settings in MTi/MTx
// Assumes initialized global MTComm class
void doMtSettings(void)
{
XsensResultValue res;
// set sensor to config sate
res = cmtGotoConfig(instance);
EXIT_ON_ERROR(res, "cmtGotoConfig");
unsigned short sampleFreq;
res = cmtGetSampleFrequency(instance, &sampleFreq, deviceIds[0]);
// set the device output mode for the device(s)
printf("Configuring your mode selection");
for (int i=0; i < mtCount; i++) {
if (cmtIdIsMtig(deviceIds[i])) {
res = cmtSetDeviceMode(instance, mode,settings, sampleFreq, deviceIds[i]);
} else {
res = cmtSetDeviceMode(instance, mode & 0xFF0F, settings, sampleFreq, deviceIds[i]);
}
EXIT_ON_ERROR(res, "setDeviceMode");
}
// start receiving data
res = cmtGotoMeasurement(instance);
EXIT_ON_ERROR(res, "cmtGotoMeasurement");
}
//////////////////////////////////////////////////////////////////////////
// writeHeaders
//
// Write appropriate headers to screen
void writeHeaders()
{
for (unsigned int i = 0; i < mtCount; i++) {
gotoxy(0, 2 + i * screenSensorOffset);
printf("MotionTracker %d\n", i + 1);
if ((mode & CMT_OUTPUTMODE_TEMP) != 0) {
temperatureOffset = 3;
gotoxy(0,3 + i * screenSensorOffset);
printf("Temperature");
gotoxy(7,4 + i * screenSensorOffset);
printf("degrees celcius");
gotoxy(0,6 + i * screenSensorOffset);
}
if ((mode & CMT_OUTPUTMODE_CALIB) != 0) {
gotoxy(0,3 + temperatureOffset + i * screenSensorOffset);
printf("Calibrated sensor data");
gotoxy(0,4 + temperatureOffset + i * screenSensorOffset);
printf(" Acc X\t Acc Y\t Acc Z");
gotoxy(23, 5 + temperatureOffset + i * screenSensorOffset);
printf("(m/s^2)");
gotoxy(0,6 + temperatureOffset + i * screenSensorOffset);
printf(" Gyr X\t Gyr Y\t Gyr Z");
gotoxy(23, 7 + temperatureOffset + i * screenSensorOffset);
printf("(rad/s)");
gotoxy(0,8 + temperatureOffset + i * screenSensorOffset);
printf(" Mag X\t Mag Y\t Mag Z");
gotoxy(23, 9 + temperatureOffset + i * screenSensorOffset);
printf("(a.u.)");
gotoxy(0,11 + temperatureOffset + i * screenSensorOffset);
}
if ((mode & CMT_OUTPUTMODE_ORIENT) != 0) {
printf("Orientation data\n");
switch(settings & CMT_OUTPUTSETTINGS_ORIENTMODE_MASK) {
case CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION:
printf(" q0\t q1\t q2\t q3\n");
break;
case CMT_OUTPUTSETTINGS_ORIENTMODE_EULER:
printf(" Roll\t Pitch\t Yaw\n");
printf(" degrees\n");
break;
case CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX:
printf(" Matrix\n");
break;
default:
;
}
}
if ((mode & CMT_OUTPUTMODE_POSITION) != 0) {
printf("\nLongitude\tLatitude\t Altitude\n");
}
}
}
//////////////////////////////////////////////////////////////////////////
// calcScreenOffset
//
// Calculates offset for screen data with multiple sensors.
void calcScreenOffset()
{
// 1 line for "Sensor ..."
screenSensorOffset += 1;
if ((mode & CMT_OUTPUTMODE_TEMP) != 0)
screenSensorOffset += 3;
if ((mode & CMT_OUTPUTMODE_CALIB) != 0)
screenSensorOffset += 8;
if ((mode & CMT_OUTPUTMODE_ORIENT) != 0) {
switch(settings & CMT_OUTPUTSETTINGS_ORIENTMODE_MASK) {
case CMT_OUTPUTSETTINGS_ORIENTMODE_QUATERNION:
screenSensorOffset += 4;
break;
case CMT_OUTPUTSETTINGS_ORIENTMODE_EULER:
screenSensorOffset += 4;
break;
case CMT_OUTPUTSETTINGS_ORIENTMODE_MATRIX:
screenSensorOffset += 6;
break;
default:
;
}
if ((mode & CMT_OUTPUTMODE_POSITION) != 0)
screenSensorOffset += 4;
}
}
//////////////////////////////////////////////////////////////////////////
// clrscr
//
// Clear console screen
void clrscr()
{
#ifdef WIN32
CONSOLE_SCREEN_BUFFER_INFO csbi;
HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
COORD coord = {0, 0};
DWORD count;
GetConsoleScreenBufferInfo(hStdOut, &csbi);
FillConsoleOutputCharacter(hStdOut, ' ', csbi.dwSize.X * csbi.dwSize.Y, coord, &count);
SetConsoleCursorPosition(hStdOut, coord);
#else
int i;
for (i = 0; i < 100; i++)
// Insert new lines to create a blank screen
putchar('\n');
gotoxy(0,0);
#endif
}
//////////////////////////////////////////////////////////////////////////
// gotoxy
//
// Sets the cursor position at the specified console position
//
// Input
// x : New horizontal cursor position
// y : New vertical cursor position
void gotoxy(int x, int y)
{
#ifdef WIN32
COORD coord;
coord.X = x;
coord.Y = y;
SetConsoleCursorPosition(GetStdHandle(STD_OUTPUT_HANDLE), coord);
#else
char essq[100]; // String variable to hold the escape sequence
char xstr[100]; // Strings to hold the x and y coordinates
char ystr[100]; // Escape sequences must be built with characters
/*
** Convert the screen coordinates to strings
*/
sprintf(xstr, "%d", x);
sprintf(ystr, "%d", y);
/*
** Build the escape sequence (vertical move)
*/
essq[0] = '\0';
strcat(essq, "\033[");
strcat(essq, ystr);
/*
** Described in man terminfo as vpa=\E[%p1%dd
** Vertical position absolute
*/
strcat(essq, "d");
/*
** Horizontal move
** Horizontal position absolute
*/
strcat(essq, "\033[");
strcat(essq, xstr);
// Described in man terminfo as hpa=\E[%p1%dG
strcat(essq, "G");
/*
** Execute the escape sequence
** This will move the cursor to x, y
*/
printf("%s", essq);
#endif
}
//////////////////////////////////////////////////////////////////////////
// exitFunc
//
// Closes cmt nicely
void exitFunc(void)
{
// if we have a valid instance, we should get rid of it at the end of the program
if (instance != -1) {
// Close any open COM ports
cmtClose(instance);
cmtDestroyInstance(instance);
}
// get rid of keystrokes before we post our message
while (_kbhit()) _getch();
// wait for a keypress
if (!userQuit)
{
//printf("Press a key to exit\n");
//_getch();
}
}
main.h
void doHardwareScan();
void doMtSettings(void);
void getUserInputs(void);
void clrscr(void);
void writeHeaders(void);
void gotoxy(int x, int y);
void calcScreenOffset(void);
void exitFunc(void);
I have code that are to paint a BMP image on a TPaintBox on a VCL form in a C++ application.
Everything works fine as long as I only have one image to paint, on one form. When I create a second form, I get sporadic access violations.
The code is called from a thread and I'm using the Synchronize function in order to synchronize with the main VCL thread as this
void TCameraForm::loadImage(FramePtr frame)
{
syncing s;
s.aFrame = frame;
s.theForm = this;
//Synchronize with UI thread
TThread::Synchronize(0, &s.fn);
}
In the code, a FramePtr is a shared pointer to one individual 'frame', holding a device dependent bitmap.
The syncing variable is a structure, holding the code for the actual painting:
//This is a trick to use VCL's TThread::Synchronize function "with parameters"
//Thanks to Mr. R. Lebeau for sharing this trick.
struct syncing
{
FramePtr aFrame;
TCameraForm* theForm;
int tag;
void __fastcall fn()
{
try
{
//Create a device dependent bitmap
BitMap aBitMap(aFrame);
//Get the bitmap memory into a TMemoryStream
TMemoryStream* ms = new TMemoryStream();
int bytes = ms->Write(aBitmap.getBuffer()->mMemoryBuffer, aBitmap.getBuffer()->mBufferSize);
ms->Position = 0;
//Create a TPicture object that will be used for drawing on the paintbox
TBitmap* tbm = new TBitmap();
tbm->LoadFromStream(ms);
TRect stretchedRect(getStretchedDimensions(tbm->Width, tbm->Height, theForm->PaintBox1->Width, theForm->PaintBox1->Height));
theForm->PaintBox1->Canvas->StretchDraw(stretchedRect, tbm);
delete ms;
delete tbm;
}
catch(...)
{
Log(lError) << "Exception occured in the CameraFrame sync function";
}
}
};
The debugger mainly stops on creation of the bitmap.
I'm using BCC builder 10.3.2 and the classic compiler.
The bitmap class looks like this:
Header
class BitMap
{
public:
BitMap(FramePtr aFrame);
BitMap(unsigned long width, unsigned long height, ColorCode c, ImageMemoryBuffer& buf);
ImageMemoryBuffer* getBuffer();
~BitMap();
bool write(const string& file);
protected:
unsigned int mWidth;
unsigned int mHeight;
ColorCode mColorCode;
ImageMemoryBuffer mImageMemoryBuffer;
bool create();
bool release();
};
And CPP:
enum { THREE_CHANNEL = 0xC,};
enum { BMP_HEADER_SIZE = 54, };
enum { ALIGNMENT_SIZE = 4, };
namespace ai
{
BitMap::BitMap(FramePtr aFrame)
:
mWidth(0),
mHeight(0),
mColorCode(ColorCodeMono8),
mImageMemoryBuffer()
{
aFrame->GetImageSize(mImageMemoryBuffer.mBufferSize);
aFrame->GetWidth(mWidth);
aFrame->GetHeight(mHeight);
VmbPixelFormatType ePixelFormat = VmbPixelFormatMono8;
aFrame->GetPixelFormat(ePixelFormat);
if((ePixelFormat != VmbPixelFormatMono8) && (ePixelFormat != VmbPixelFormatRgb8))
{
throw(MVRException("Invalid pixel format: " + toString(ePixelFormat)));
}
mColorCode = (ePixelFormat == VmbPixelFormatRgb8) ? ColorCodeRGB24 : ColorCodeMono8;
VmbUchar_t *pImage = NULL;
if (aFrame->GetImage(pImage) != VmbErrorSuccess)
{
throw(MVRException("Failed \"getting\" image"));
}
mImageMemoryBuffer.mMemoryBuffer = (unsigned char*) pImage;
if(!create())
{
Log(lError) << "There was an error creating the bitmap";
throw(MVRException("Failed creating Bitmap"));
}
}
BitMap::BitMap(unsigned long width, unsigned long height, ColorCode c, ImageMemoryBuffer& buf)
:
mWidth(width),
mHeight(height),
mColorCode(c),
mImageMemoryBuffer(buf)
{
if(!create())
{
Log(lError) << "There was an error creating the bitmap";
throw(MVRException("Failed creating bitmap"));
}
}
BitMap::~BitMap()
{
if(!release())
{
Log(lError) << "There was an error releasing the bitmap";
}
}
ImageMemoryBuffer* BitMap::getBuffer()
{
return &mImageMemoryBuffer;
}
bool BitMap::create()
{
try
{
unsigned char nNumColors; // Number of colors of our image
unsigned char nPadLength; // The padding we need to align the bitmap ALIGNMENT_SIZE
unsigned long nPaletteSize = 0; // The size of the bitmap's palette
unsigned long nHeaderSize; // The size of the bitmap's header
unsigned long nFileSize; // The size of the bitmap file
unsigned char* pBitmapBuffer; // A buffer we use for creating the bitmap
unsigned char* pCurBitmapBuf; // A cursor to move over "pBitmapBuffer"
unsigned char* pCurSrc; // A cursor to move over the given buffer "pBuffer"
unsigned long px; // A single pixel for storing transformed color information
unsigned long x; // The horizontal position within our image
unsigned long y; // The vertical position within our image
unsigned long i; // Counter for some iteration
// The bitmap header
char fileHeader[14] = { 'B','M', // Default
0,0,0,0, // File size
0,0,0,0, // Reserved
0,0,0,0 }; // Offset to image content
char infoHeader[40] = { 40,0,0,0, // Size of info header
0,0,0,0, // Width
0,0,0,0, // Height
1,0, // Default
0, 0 }; // bpp
if ( 0 == mImageMemoryBuffer.mBufferSize || 0 == mWidth || 0 == mHeight )
{
Log(lError) << "Zero bitmap buffer, width ot height in Bitmap constructor";
return false;
}
if ( mColorCode == (mColorCode & THREE_CHANNEL) )
{
nNumColors = 3;
}
else
{
nNumColors = 1;
}
// Bitmap padding always is a multiple of four Bytes. If data is not we need to pad with zeros.
nPadLength = (mWidth * nNumColors) % ALIGNMENT_SIZE;
if ( 0 != nPadLength )
{
nPadLength = ALIGNMENT_SIZE - nPadLength;
}
if ( ColorCodeRGB24 != mColorCode )
{
nPaletteSize = 256;
}
nHeaderSize = BMP_HEADER_SIZE + nPaletteSize * 4;
pBitmapBuffer = (unsigned char*)malloc( nHeaderSize + mImageMemoryBuffer.mBufferSize + (nPadLength * mHeight) );
nFileSize = nHeaderSize + mImageMemoryBuffer.mBufferSize + (nPadLength * mHeight);
// File size
fileHeader[ 2] = (char)(nFileSize);
fileHeader[ 3] = (char)(nFileSize >> 8);
fileHeader[ 4] = (char)(nFileSize >> 16);
fileHeader[ 5] = (char)(nFileSize >> 24);
// Offset to image content
fileHeader[10] = (char)(nHeaderSize);
fileHeader[11] = (char)(nHeaderSize >> 8);
fileHeader[12] = (char)(nHeaderSize >> 16);
fileHeader[13] = (char)(nHeaderSize >> 24);
// Width
infoHeader[ 4] = (char)(mWidth);
infoHeader[ 5] = (char)(mWidth >> 8);
infoHeader[ 6] = (char)(mWidth >> 16);
infoHeader[ 7] = (char)(mWidth >> 24);
// Height (has to be negative for a top down image)
infoHeader[ 8] = (char)(-(long)mHeight);
infoHeader[ 9] = (char)(-(long)mHeight >> 8);
infoHeader[10] = (char)(-(long)mHeight >> 16);
infoHeader[11] = (char)(-(long)mHeight >> 24);
// bpp
infoHeader[14] = 8 * nNumColors;
// Image size
infoHeader[20] = (char)(mImageMemoryBuffer.mBufferSize);
infoHeader[21] = (char)(mImageMemoryBuffer.mBufferSize >> 8);
infoHeader[22] = (char)(mImageMemoryBuffer.mBufferSize >> 16);
infoHeader[23] = (char)(mImageMemoryBuffer.mBufferSize >> 24);
// Palette size
infoHeader[32] = (char)(nPaletteSize);
infoHeader[33] = (char)(nPaletteSize >> 8);
infoHeader[34] = (char)(nPaletteSize >> 16);
infoHeader[35] = (char)(nPaletteSize >> 24);
// Used colors
infoHeader[36] = (char)(nPaletteSize);
infoHeader[37] = (char)(nPaletteSize >> 8);
infoHeader[38] = (char)(nPaletteSize >> 16);
infoHeader[39] = (char)(nPaletteSize >> 24);
// Write header
pCurBitmapBuf = pBitmapBuffer;
memcpy(pCurBitmapBuf, fileHeader, 14);
pCurBitmapBuf += 14;
memcpy(pCurBitmapBuf, infoHeader, 40);
pCurBitmapBuf += 40;
for(i = 0; i < nPaletteSize; ++i)
{
pCurBitmapBuf[0] = (char)(i);
pCurBitmapBuf[1] = (char)(i);
pCurBitmapBuf[2] = (char)(i);
pCurBitmapBuf[3] = 0;
pCurBitmapBuf += 4;
}
// RGB -> BGR (a Windows bitmap is BGR)
if(mColorCode == ColorCodeRGB24)
{
pCurSrc = (unsigned char*) mImageMemoryBuffer.mMemoryBuffer;
for(y=0; y < mHeight; ++y, pCurBitmapBuf += nPadLength )
{
for (x = 0; x < mWidth; ++x, pCurSrc += 3, pCurBitmapBuf += 3)
{
px = 0;
// Create a 4 Byte structure to store ARGB (we don't use A)
px = px | (pCurSrc[0] << 16) | (pCurSrc[1] << 8) | pCurSrc[2];
// Due to endianess ARGB is stored as BGRA
// and we only have to write the first three Bytes
memcpy( pCurBitmapBuf, &px, 3 );
}
// Add padding at the end of each row
memset( pCurBitmapBuf, 0, nPadLength );
}
mColorCode = ColorCodeBGR24;
}
// Mono8
else
{
if(nPadLength == 0)
{
memcpy( pCurBitmapBuf, mImageMemoryBuffer.mMemoryBuffer, mImageMemoryBuffer.mBufferSize );
}
else
{
pCurSrc = (unsigned char*)mImageMemoryBuffer.mMemoryBuffer;
for (y=0; y < mHeight; ++y, pCurSrc += mWidth * nNumColors)
{
// Write a single row of colored pixels
memcpy( pCurBitmapBuf, pCurSrc, mWidth * nNumColors );
pCurBitmapBuf += mWidth * nNumColors;
// Write padding pixels
memset(pCurBitmapBuf, 0, nPadLength);
pCurBitmapBuf += nPadLength;
}
}
}
mImageMemoryBuffer.mMemoryBuffer = pBitmapBuffer;
mImageMemoryBuffer.mBufferSize = nFileSize;
return true;
}
catch(...)
{
Log(lError) << "Exception in creation of bitmap create function";
return false;
}
}
bool BitMap::release()
{
try
{
if (mImageMemoryBuffer.mMemoryBuffer != NULL && mImageMemoryBuffer.mBufferSize > 0)
{
free(mImageMemoryBuffer.mMemoryBuffer);
mImageMemoryBuffer.mMemoryBuffer = NULL;
}
return true;
}
catch(...)
{
return false;
}
}
bool BitMap::write(const string& fName)
{
if (mImageMemoryBuffer.mMemoryBuffer == NULL)
{
return false;
}
FILE *file = fopen(fName.c_str(), "wb");
if(!file)
{
Log(lError) << "Failed opening file: " << fName;
return false;
}
fwrite(mImageMemoryBuffer.mMemoryBuffer, 1, mImageMemoryBuffer.mBufferSize, file );
fclose(file);
return true;
}
}
UPDATE: The above code works fine when executed by one thread. The problem occurs when several threads are involved. I have located the problem happening when the memcpy function is called in the creation of the bitmap (not the TBitmap), supporting this. So main problem is that the same memory is being manipulated by two or more threads at the same time.
For the above code, where would it be appropriate to incorporate a Mutex, in order to prevent the memory corruption? Or could one use another technique?
I am using OpenCv 2.4.8 on Linux, and obtaining a USB webcam (logitech C200) capture for further processing. I have determined that the capture uses cap_libv4.cpp (present in modlules/highgui) to capture the image. I had to modify the said file to add support for timestamps.
I have tried it with a number of webcams, and noticed it only gives correct timestamps if the flags field in the structure v4l2_buffer is 0. If it is equal to 2, which corresponds to V4L2_BUF_FLAG_TIMESTAMP MONOTONIC, it gives 0. I am wondering if it is a problem with my code modification, or with the libv4l drivers.
The function read_frame_v4l2 reads the buffer, and updates the timestamp. The timestamp can be read using the function icvGetPropertyCAM_V4L. The modified codes for these two functions are as below:
icvGetPropertyCAM_V4L:
static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
int property_id ) {
char name[32];
int is_v4l2_device = 0;
/* initialize the control structure */
switch (property_id) {
case CV_CAP_PROP_FRAME_WIDTH:
case CV_CAP_PROP_FRAME_HEIGHT:
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
/* display an error message, and return an error code */
perror ("VIDIOC_G_FMT");
if (v4l1_ioctl (capture->deviceHandle, VIDIOCGWIN, &capture->captureWindow) < 0) {
fprintf (stderr, "HIGHGUI ERROR: V4L: Unable to determine size of incoming image\n");
icvCloseCAM_V4L(capture);
return -1;
} else {
int retval = (property_id == CV_CAP_PROP_FRAME_WIDTH)?capture->captureWindow.width:capture->captureWindow.height;
return retval / 0xFFFF;
}
}
return (property_id == CV_CAP_PROP_FRAME_WIDTH)?capture->form.fmt.pix.width:capture->form.fmt.pix.height;
case CV_CAP_PROP_BRIGHTNESS:
sprintf(name, "Brightness");
capture->control.id = V4L2_CID_BRIGHTNESS;
break;
case CV_CAP_PROP_CONTRAST:
sprintf(name, "Contrast");
capture->control.id = V4L2_CID_CONTRAST;
break;
case CV_CAP_PROP_SATURATION:
sprintf(name, "Saturation");
capture->control.id = V4L2_CID_SATURATION;
break;
case CV_CAP_PROP_HUE:
sprintf(name, "Hue");
capture->control.id = V4L2_CID_HUE;
break;
case CV_CAP_PROP_GAIN:
sprintf(name, "Gain");
capture->control.id = V4L2_CID_GAIN;
break;
case CV_CAP_PROP_EXPOSURE:
sprintf(name, "Exposure");
capture->control.id = V4L2_CID_EXPOSURE;
break;
case CV_CAP_PROP_POS_MSEC:
if (capture->FirstCapture) {
return 0;
} else {
return 1000 * capture->timestamp.tv_sec + ((double) capture->timestamp.tv_usec) / 1000;
}
break;
default:
sprintf(name, "<unknown property string>");
capture->control.id = property_id;
}
if(v4l2_ioctl(capture->deviceHandle, VIDIOC_G_CTRL, &capture->control) == 0) {
/* all went well */
is_v4l2_device = 1;
} else {
fprintf(stderr, "HIGHGUI ERROR: V4L2: Unable to get property %s(%u) - %s\n", name, capture->control.id, strerror(errno));
}
if (is_v4l2_device == 1) {
/* get the min/max values */
int v4l2_min = v4l2_get_ctrl_min(capture, capture->control.id);
int v4l2_max = v4l2_get_ctrl_max(capture, capture->control.id);
if ((v4l2_min == -1) && (v4l2_max == -1)) {
fprintf(stderr, "HIGHGUI ERROR: V4L2: Property %s(%u) not supported by device\n", name, property_id);
return -1;
}
/* all was OK, so convert to 0.0 - 1.0 range, and return the value */
return ((float)capture->control.value - v4l2_min) / (v4l2_max - v4l2_min);
} else {
/* TODO: review this section */
int retval = -1;
switch (property_id) {
case CV_CAP_PROP_BRIGHTNESS:
retval = capture->imageProperties.brightness;
break;
case CV_CAP_PROP_CONTRAST:
retval = capture->imageProperties.contrast;
break;
case CV_CAP_PROP_SATURATION:
retval = capture->imageProperties.colour;
break;
case CV_CAP_PROP_HUE:
retval = capture->imageProperties.hue;
break;
case CV_CAP_PROP_GAIN:
fprintf(stderr, "HIGHGUI ERROR: V4L: Gain control in V4L is not supported\n");
return -1;
break;
case CV_CAP_PROP_EXPOSURE:
fprintf(stderr, "HIGHGUI ERROR: V4L: Exposure control in V4L is not supported\n");
return -1;
break;
}
if (retval == -1) {
/* there was a problem */
return -1;
}
/* all was OK, so convert to 0.0 - 1.0 range, and return the value */
return float (retval) / 0xFFFF;
}
}
read_frame_v4l2:
static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
{
static int autoindex;
autoindex = 0;
char deviceName[MAX_DEVICE_DRIVER_NAME];
if (!numCameras)
icvInitCapture_V4L(); /* Havent called icvInitCapture yet - do it now! */
if (!numCameras)
return NULL; /* Are there any /dev/video input sources? */
//search index in indexList
if ( (index>-1) && ! ((1 << index) & indexList) )
{
fprintf( stderr, "HIGHGUI ERROR: V4L: index %d is not correct!\n",index);
return NULL; /* Did someone ask for not correct video source number? */
}
/* Allocate memory for this humongus CvCaptureCAM_V4L structure that contains ALL
the handles for V4L processing */
CvCaptureCAM_V4L * capture = (CvCaptureCAM_V4L*)cvAlloc(sizeof(CvCaptureCAM_V4L));
if (!capture) {
fprintf( stderr, "HIGHGUI ERROR: V4L: Could not allocate memory for capture process.\n");
return NULL;
}
#ifdef USE_TEMP_BUFFER
capture->buffers[MAX_V4L_BUFFERS].start = NULL;
#endif
/* Select camera, or rather, V4L video source */
if (index<0) { // Asking for the first device available
for (; autoindex<MAX_CAMERAS;autoindex++)
if (indexList & (1<<autoindex))
break;
if (autoindex==MAX_CAMERAS)
return NULL;
index=autoindex;
autoindex++;// i can recall icvOpenCAM_V4l with index=-1 for next camera
}
/* Print the CameraNumber at the end of the string with a width of one character */
sprintf(deviceName, "/dev/video%1d", index);
/* w/o memset some parts arent initialized - AKA: Fill it with zeros so it is clean */
memset(capture,0,sizeof(CvCaptureCAM_V4L));
/* Present the routines needed for V4L funtionality. They are inserted as part of
the standard set of cv calls promoting transparency. "Vector Table" insertion. */
capture->FirstCapture = 1;
/* set the default size */
capture->width = DEFAULT_V4L_WIDTH;
capture->height = DEFAULT_V4L_HEIGHT;
if (_capture_V4L2 (capture, deviceName) == -1) {
icvCloseCAM_V4L(capture);
capture->is_v4l2_device = 0;
if (_capture_V4L (capture, deviceName) == -1) {
icvCloseCAM_V4L(capture);
return NULL;
}
} else {
capture->is_v4l2_device = 1;
}
return capture;
}; /* End icvOpenCAM_V4L */
#ifdef HAVE_CAMV4L2
static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
struct v4l2_buffer buf;
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
/* display the error and stop processing */
perror ("VIDIOC_DQBUF");
return -1;
}
}
assert(buf.index < capture->req.count);
#ifdef USE_TEMP_BUFFER
memcpy(capture->buffers[MAX_V4L_BUFFERS].start,
capture->buffers[buf.index].start,
capture->buffers[MAX_V4L_BUFFERS].length );
capture->bufferIndex = MAX_V4L_BUFFERS;
//printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n",
// buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
#else
capture->bufferIndex = buf.index;
#endif
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
perror ("VIDIOC_QBUF");
//set timestamp in capture struct to be timestamp of most recent frame
/** where timestamps refer to the instant the field or frame was received by the driver, not the capture time*/
capture->timestamp = buf.timestamp; //
printf("Flags %0x.X, timestamp = %ld, %ld", buf.flags, buf.timestamp.tv_sec, buf.timestamp.tv_usec);
//prints 0 if the flags is of the 4th nibble from LSB is 2 i.e. of the form .....2xxx H
return 1;
}
I need the timestamp so as to determine velocity of an object I am detecting in the image. I have searched a lot and have not found any solution.
I have downloaded the libsvm code for object detection. I am having problems in using the train svm code. I can't input the sample files properly. Anyone please help me how to input positive and negative images.Here is the train code.
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <errno.h>
#include "svm.h"
#define Malloc(type,n) (type *)malloc((n)*sizeof(type))
void print_null(const char *s) {}
void exit_with_help()
{
printf(
"Usage: svm-train [options] training_set_file [model_file]\n"
"options:\n"
"-s svm_type : set type of SVM (default 0)\n"
" 0 -- C-SVC (multi-class classification)\n"
" 1 -- nu-SVC (multi-class classification)\n"
" 2 -- one-class SVM\n"
" 3 -- epsilon-SVR (regression)\n"
" 4 -- nu-SVR (regression)\n"
"-t kernel_type : set type of kernel function (default 2)\n"
" 0 -- linear: u'*v\n"
" 1 -- polynomial: (gamma*u'*v + coef0)^degree\n"
" 2 -- radial basis function: exp(-gamma*|u-v|^2)\n"
" 3 -- sigmoid: tanh(gamma*u'*v + coef0)\n"
" 4 -- precomputed kernel (kernel values in training_set_file)\n"
"-d degree : set degree in kernel function (default 3)\n"
"-g gamma : set gamma in kernel function (default 1/num_features)\n"
"-r coef0 : set coef0 in kernel function (default 0)\n"
"-c cost : set the parameter C of C-SVC, epsilon-SVR, and nu-SVR (default 1)\n"
"-n nu : set the parameter nu of nu-SVC, one-class SVM, and nu-SVR (default 0.5)\n"
"-p epsilon : set the epsilon in loss function of epsilon-SVR (default 0.1)\n"
"-m cachesize : set cache memory size in MB (default 100)\n"
"-e epsilon : set tolerance of termination criterion (default 0.001)\n"
"-h shrinking : whether to use the shrinking heuristics, 0 or 1 (default 1)\n"
"-b probability_estimates : whether to train a SVC or SVR model for probability estimates, 0 or 1 (default 0)\n"
"-wi weight : set the parameter C of class i to weight*C, for C-SVC (default 1)\n"
"-v n: n-fold cross validation mode\n"
"-q : quiet mode (no outputs)\n"
);
exit(1);
}
void exit_input_error(int line_num)
{
fprintf(stderr,"Wrong input format at line %d\n", line_num);
exit(1);
}
void parse_command_line(int argc, char **argv, char *input_file_name, char *model_file_name);
void read_problem(const char *filename);
void do_cross_validation();
struct svm_parameter param; // set by parse_command_line
struct svm_problem prob; // set by read_problem
struct svm_model *model;
struct svm_node *x_space;
int cross_validation;
int nr_fold;
static char *line = NULL;
static int max_line_len;
static char* readline(FILE *input)
{
int len;
if(fgets(line,max_line_len,input) == NULL)
return NULL;
while(strrchr(line,'\n') == NULL)
{
max_line_len *= 2;
line = (char *) realloc(line,max_line_len);
len = (int) strlen(line);
if(fgets(line+len,max_line_len-len,input) == NULL)
break;
}
return line;
}
int main(int argc, char **argv)
{
char input_file_name[1024];
char model_file_name[1024];
const char *error_msg;
parse_command_line(argc, argv, input_file_name, model_file_name);
read_problem(input_file_name);
error_msg = svm_check_parameter(&prob,¶m);
if(error_msg)
{
fprintf(stderr,"ERROR: %s\n",error_msg);
exit(1);
}
if(cross_validation)
{
do_cross_validation();
}
else
{
model = svm_train(&prob,¶m);
if(svm_save_model(model_file_name,model))
{
fprintf(stderr, "can't save model to file %s\n", model_file_name);
exit(1);
}
svm_free_and_destroy_model(&model);
}
svm_destroy_param(¶m);
free(prob.y);
free(prob.x);
free(x_space);
free(line);
return 0;
}
void do_cross_validation()
{
int i;
int total_correct = 0;
double total_error = 0;
double sumv = 0, sumy = 0, sumvv = 0, sumyy = 0, sumvy = 0;
double *target = Malloc(double,prob.l);
svm_cross_validation(&prob,¶m,nr_fold,target);
if(param.svm_type == EPSILON_SVR ||
param.svm_type == NU_SVR)
{
for(i=0;i<prob.l;i++)
{
double y = prob.y[i];
double v = target[i];
total_error += (v-y)*(v-y);
sumv += v;
sumy += y;
sumvv += v*v;
sumyy += y*y;
sumvy += v*y;
}
printf("Cross Validation Mean squared error = %g\n",total_error/prob.l);
printf("Cross Validation Squared correlation coefficient = %g\n",
((prob.l*sumvy-sumv*sumy)*(prob.l*sumvy-sumv*sumy))/
((prob.l*sumvv-sumv*sumv)*(prob.l*sumyy-sumy*sumy))
);
}
else
{
for(i=0;i<prob.l;i++)
if(target[i] == prob.y[i])
++total_correct;
printf("Cross Validation Accuracy = %g%%\n",100.0*total_correct/prob.l);
}
free(target);
}
void parse_command_line(int argc, char **argv, char *input_file_name, char *model_file_name)
{
int i;
void (*print_func)(const char*) = NULL; // default printing to stdout
// default values
param.svm_type = C_SVC;
param.kernel_type = RBF;
param.degree = 3;
param.gamma = 0; // 1/num_features
param.coef0 = 0;
param.nu = 0.5;
param.cache_size = 100;
param.C = 1;
param.eps = 1e-3;
param.p = 0.1;
param.shrinking = 1;
param.probability = 0;
param.nr_weight = 0;
param.weight_label = NULL;
param.weight = NULL;
cross_validation = 0;
// parse options
for(i=1;i<argc;i++)
{
if(argv[i][0] != '-') break;
if(++i>=argc)
exit_with_help();
switch(argv[i-1][1])
{
case 's':
param.svm_type = atoi(argv[i]);
break;
case 't':
param.kernel_type = atoi(argv[i]);
break;
case 'd':
param.degree = atoi(argv[i]);
break;
case 'g':
param.gamma = atof(argv[i]);
break;
case 'r':
param.coef0 = atof(argv[i]);
break;
case 'n':
param.nu = atof(argv[i]);
break;
case 'm':
param.cache_size = atof(argv[i]);
break;
case 'c':
param.C = atof(argv[i]);
break;
case 'e':
param.eps = atof(argv[i]);
break;
case 'p':
param.p = atof(argv[i]);
break;
case 'h':
param.shrinking = atoi(argv[i]);
break;
case 'b':
param.probability = atoi(argv[i]);
break;
case 'q':
print_func = &print_null;
i--;
break;
case 'v':
cross_validation = 1;
nr_fold = atoi(argv[i]);
if(nr_fold < 2)
{
fprintf(stderr,"n-fold cross validation: n must >= 2\n");
exit_with_help();
}
break;
case 'w':
++param.nr_weight;
param.weight_label = (int *)realloc(param.weight_label,sizeof(int)*param.nr_weight);
param.weight = (double *)realloc(param.weight,sizeof(double)*param.nr_weight);
param.weight_label[param.nr_weight-1] = atoi(&argv[i-1][2]);
param.weight[param.nr_weight-1] = atof(argv[i]);
break;
default:
fprintf(stderr,"Unknown option: -%c\n", argv[i-1][1]);
exit_with_help();
}
}
svm_set_print_string_function(print_func);
// determine filenames
if(i>=argc)
exit_with_help();
strcpy(input_file_name, argv[i]);
if(i<argc-1)
strcpy(model_file_name,argv[i+1]);
else
{
char *p = strrchr(argv[i],'/');
if(p==NULL)
p = argv[i];
else
++p;
sprintf(model_file_name,"%s.model",p);
}
}
// read in a problem (in svmlight format)
void read_problem(const char *filename)
{
int max_index, inst_max_index, i;
size_t elements, j;
FILE *fp = fopen(filename,"r");
char *endptr;
char *idx, *val, *label;
if(fp == NULL)
{
fprintf(stderr,"can't open input file %s\n",filename);
exit(1);
}
prob.l = 0;
elements = 0;
max_line_len = 1024;
line = Malloc(char,max_line_len);
while(readline(fp)!=NULL)
{
char *p = strtok(line," \t"); // label
// features
while(1)
{
p = strtok(NULL," \t");
if(p == NULL || *p == '\n') // check '\n' as ' ' may be after the last feature
break;
++elements;
}
++elements;
++prob.l;
}
rewind(fp);
prob.y = Malloc(double,prob.l);
prob.x = Malloc(struct svm_node *,prob.l);
x_space = Malloc(struct svm_node,elements);
max_index = 0;
j=0;
for(i=0;i<prob.l;i++)
{
inst_max_index = -1; // strtol gives 0 if wrong format, and precomputed kernel has <index> start from 0
readline(fp);
prob.x[i] = &x_space[j];
label = strtok(line," \t\n");
if(label == NULL) // empty line
exit_input_error(i+1);
prob.y[i] = strtod(label,&endptr);
if(endptr == label || *endptr != '\0')
exit_input_error(i+1);
while(1)
{
idx = strtok(NULL,":");
val = strtok(NULL," \t");
if(val == NULL)
break;
errno = 0;
x_space[j].index = (int) strtol(idx,&endptr,10);
if(endptr == idx || errno != 0 || *endptr != '\0' || x_space[j].index <= inst_max_index)
exit_input_error(i+1);
else
inst_max_index = x_space[j].index;
errno = 0;
x_space[j].value = strtod(val,&endptr);
if(endptr == val || errno != 0 || (*endptr != '\0' && !isspace(*endptr)))
exit_input_error(i+1);
++j;
}
if(inst_max_index > max_index)
max_index = inst_max_index;
x_space[j++].index = -1;
}
if(param.gamma == 0 && max_index > 0)
param.gamma = 1.0/max_index;
if(param.kernel_type == PRECOMPUTED)
for(i=0;i<prob.l;i++)
{
if (prob.x[i][0].index != 0)
{
fprintf(stderr,"Wrong input format: first column must be 0:sample_serial_number\n");
exit(1);
}
if ((int)prob.x[i][0].value <= 0 || (int)prob.x[i][0].value > max_index)
{
fprintf(stderr,"Wrong input format: sample_serial_number out of range\n");
exit(1);
}
}
fclose(fp);
}
UPDATE
can i convert to numerical representation using this code?
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <cv.h>
#include <highgui.h>
#include <cvaux.h>
#include <iostream>
#include <vector>
#include<string.h>
using namespace std;
using namespace cv;
int main ( int argc, char** argv )
{
cout << "OpenCV Training SVM Automatic Number Plate Recognition\n";
cout << "\n";
char* path_Plates;
char* path_NoPlates;
int numPlates;
int numNoPlates;
int imageWidth=150;
int imageHeight=150;
//Check if user specify image to process
if(1)
{
numPlates= 12;
numNoPlates= 67 ;
path_Plates= "/home/kaushik/opencv_work/Manas6/Pics/Positive_Images/";
path_NoPlates= "/home/kaushik/opencv_work/Manas6/Pics/Negative_Images/i";
}else{
cout << "Usage:\n" << argv[0] << " <num Plate Files> <num Non Plate Files> <path to plate folder files> <path to non plate files> \n";
return 0;
}
Mat classes;//(numPlates+numNoPlates, 1, CV_32FC1);
Mat trainingData;//(numPlates+numNoPlates, imageWidth*imageHeight, CV_32FC1 );
Mat trainingImages;
vector<int> trainingLabels;
for(int i=1; i<= numPlates; i++)
{
stringstream ss(stringstream::in | stringstream::out);
ss<<path_Plates<<i<<".jpg";
try{
const char* a = ss.str().c_str();
printf("\n%s\n",a);
Mat img = imread(ss.str(), CV_LOAD_IMAGE_UNCHANGED);
img= img.clone().reshape(1, 1);
//imshow("Window",img);
//cout<<ss.str();
trainingImages.push_back(img);
trainingLabels.push_back(1);
}
catch(Exception e){;}
}
for(int i=0; i< numNoPlates; i++)
{
stringstream ss(stringstream::in | stringstream::out);
ss << path_NoPlates<<i << ".jpg";
try
{
const char* a = ss.str().c_str();
printf("\n%s\n",a);
Mat img=imread(ss.str(),CV_LOAD_IMAGE_UNCHANGED);
//imshow("Win",img);
img= img.clone().reshape(1, 1);
trainingImages.push_back(img);
trainingLabels.push_back(0);
//cout<<ss.str();
}
catch(Exception e){;}
}
Mat(trainingImages).copyTo(trainingData);
//trainingData = trainingData.reshape(1,trainingData.rows);
trainingData.convertTo(trainingData, CV_32FC1);
Mat(trainingLabels).copyTo(classes);
FileStorage fs("SVM.xml", FileStorage::WRITE);
fs << "TrainingData" << trainingData;
fs << "classes" << classes;
fs.release();
return 0;
}
What I can see from your code is, that you are mixing OpenCV and LIBSVM.
Basically you can follow one of the following ways. Personally I would suggest to use OpenCV only.
OpenCV
OpenCV is a very powerfull library for working with images. Hence they implement their own machine learning algorithms including SVMs.
As described in a very good way here it is very easy to perform classification with images via OpenCV since the algorithms use a common interface for this purpose.
LIBSVM
LIBSVM a standalone library for SVM classification in various form (e.g. multiclass, two-class, with probability estimates, etc). If you go this way, you have to perform the following steps in order to do successful classification:
Think about how many different classes you want to differentiate (e.g. + / -)
Maybe preprocess your images (filters, ...)
Extract so called "features" rom your images using a feature selection method (for example: Mutual Information). Those methods will tell you, which points are significant for your given classes since we follow the basic assumption, that not every singel pixel in an image is important.
According to your extracted features you transform your images to an vectorial representation.
Write it into an file according to the LIBSVM data format:
label feature_id1:feature_value1 feature_id2:feature_value2
+1 1:0.53265 2:0.5232
-1 1:0.78543 2:0.64326
Proceed with "svm_train" according to its description. Classification would be a combination of 2.) 4.) 5.) and a run of "svm_predict".
I am starting with SDL, and I was reading the introduction, and I am trying the drawPixel method they have. What I am doing is a ppm viewer, so far I have the rgb values in an array and are correctly stored (i checked them by printing the array and making sure they correspond to their position in the ppm file) and I want to use SDL to draw the picture. So far the code I've written is (this is the main.cpp file, if ppm.hpp and ppm.cpp are needed please tell me so to add them)
#include <iostream>
#include <SDL/SDL.h>
#include "ppm.hpp"
using namespace std;
void drawPixel (SDL_Surface*, Uint8, Uint8, Uint8, int, int);
int main (int argc, char** argv) {
PPM ppm ("res/cake.ppm");
if (SDL_Init(SDL_INIT_AUDIO | SDL_INIT_VIDEO) < 0) {
cerr << "Unable to init SDL: " << SDL_GetError() << endl;
exit(1);
}
atexit(SDL_Quit); // to automatically call SDL_Quit() when the program terminates
SDL_Surface* screen;
screen = SDL_SetVideoMode(ppm.width(), ppm.height(), 32, SDL_SWSURFACE);
if (screen == nullptr) {
cerr << "Unable to set " << ppm.width() << "x" << ppm.height() << " video: " << SDL_GetError() << endl;
exit(1);
}
for (int i = 0; i < ppm.width(); i++) {
for(int j = 0; j < ppm.height(); j++) {
drawPixel(screen, ppm.red(i,j), ppm.green(i,j), ppm.blue(i,j), i, j);
}
}
return 0;
}
void drawPixel (SDL_Surface* screen, Uint8 R, Uint8 G, Uint8 B, int x, int y) {
Uint32 color = SDL_MapRGB(screen->format, R, G, B);
if (SDL_MUSTLOCK(screen)) {
if (SDL_LockSurface(screen) < 0) {
return;
}
}
switch (screen->format->BytesPerPixel) {
case 1: { // Assuming 8-bpp
Uint8* bufp;
bufp = (Uint8*)screen->pixels + y * screen->pitch + x;
*bufp = color;
}
break;
case 2: { // Probably 15-bpp or 16-bpp
Uint16 *bufp;
bufp = (Uint16*)screen->pixels + y * screen->pitch / 2 + x;
*bufp = color;
}
break;
case 3: { // Slow 24-bpp mode, usually not used
Uint8* bufp;
bufp = (Uint8*)screen->pixels + y * screen->pitch + x;
*(bufp + screen->format->Rshift / 8) = R;
*(bufp + screen->format->Gshift / 8) = G;
*(bufp + screen->format->Bshift / 8) = B;
}
break;
case 4: { // Probably 32-bpp
Uint32* bufp;
bufp = (Uint32*)screen->pixels + y * screen->pitch / 4 + x;
*bufp = color;
}
break;
}
if (SDL_MUSTLOCK(screen)) {
SDL_UnlockSurface(screen);
}
SDL_UpdateRect(screen, x, y, 1, 1);
}
The drawPixel is as is provided by the introduction, now the ppm file I am trying to use is called cake.ppm and its 720x540, however when I build and run this code, I get the application is not responding. I tried it on a smaller ppm file which is 426x299 and it showed a window with colors being put on the window.
Why is it not working on the cake.ppm file and on others it works? Is it due to size?
When I try the ppm file, the second one 426x299 or other ppm files, the colors come totally different, why is that?
When I run the app, after the pixels are put, the window closes, how can I keep it?
Attempting at a file squares.ppm, here is what it should be:
But this is what I'm getting