S3315_RK3588/3rdParty/trax/support/tests/static/native_static.c

/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4 -*- */
/*
 * This is an example of a stationary tracker. It only reports the initial
 * position for all frames and is used for testing purposes.
 * The main function of this example is to show the developers how to modify
 * their trackers to work with the evaluation environment.
 *
 * Copyright (c) 2017, Luka Cehovin
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:

 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * The views and conclusions contained in the software and documentation are those
 * of the authors and should not be interpreted as representing official policies,
 * either expressed or implied, of the FreeBSD Project.
 *
 */

#include <stdlib.h>
#include <stdio.h>
#include <ctype.h>
#include "trax.h"

#if defined(__OS2__) || defined(__WINDOWS__) || defined(WIN32) || defined(WIN64) || defined(_MSC_VER)
#include <windows.h>
void sleep_seconds(float seconds) {
    Sleep((long) (seconds * 1000.0));
}
#else
//#  ifndef _MAC_
#include <unistd.h>
//#  endif
void sleep_seconds(float seconds) {
    usleep((long) (seconds * 1000000.0));
}
#endif

int main( int argc, char** argv) {

    FILE* log;
    int run;
    float wait = 0;
    trax_image_list* img = NULL;
    trax_region* reg = NULL;
    trax_region* mem = NULL;

    int channels = TRAX_CHANNEL_COLOR;

    if (getenv("TRAX_TEST_USE_DEPTH")) {
        channels |= TRAX_CHANNEL_DEPTH;
    }

    if (getenv("TRAX_TEST_USE_IR")) {
        channels |= TRAX_CHANNEL_IR;
    }

    // *****************************************
    // TraX: Call trax_server_setup at the beginning
    // *****************************************

    trax_handle* trax;
    trax_metadata* metadata = trax_metadata_create(TRAX_REGION_ANY, TRAX_IMAGE_ANY, channels,
                              "Static", "Static demo tracker", "Demo");

    log = argc > 1 ? fopen(argv[1], "w") : NULL;
    trax = trax_server_setup(metadata, log ? trax_logger_setup_file(log) : trax_no_log);

    trax_metadata_release(&metadata);

    run = 1;

    fprintf(stdout, "OUT: START\n");
    fprintf(stderr, "ERR: START\n");

    while (run)
    {

        trax_properties* prop = trax_properties_create();

        // The main idea of Trax interface is to leave the control to the master program
        // and just follow the instructions that the tracker gets.
        // The main function for this is trax_wait that actually listens for commands.

        int tr = trax_server_wait(trax, &img, &reg, prop);

        // There are two important commands. The first one is TRAX_INITIALIZE that tells the
        // tracker how to initialize.
        if (tr == TRAX_INITIALIZE) {

            wait = trax_properties_get_float(prop, "time_wait", 0);

            // Artificial wait period that can be used for testing
            if (wait > 0) sleep_seconds(wait);

            if (mem) trax_region_release(&mem);
            mem = trax_region_clone(reg);

            trax_server_reply(trax, mem, NULL);

            fprintf(stdout, "OUT: INIT\n");
            fprintf(stderr, "ERR: INIT\n");

        } else
            // The second one is TRAX_FRAME that tells the tracker what to process next.
            if (tr == TRAX_FRAME) {

                // Artificial wait period that can be used for testing
                if (wait > 0) sleep_seconds(wait);

                // Note that the tracker also has an option of sending additional data
                // back to the main program in a form of key-value pairs. We do not use
                // this option here, so this part is empty.
                trax_server_reply(trax, mem, NULL);

                fprintf(stdout, "OUT: FRAME\n");
                fprintf(stderr, "ERR: FRAME\n");

            }
        // Any other command is either TRAX_QUIT or illegal, so we exit.
            else {

                fprintf(stdout, "OUT: QUITTING\n");
                fprintf(stderr, "ERR: QUITTING\n");

                trax_properties_release(&prop);
                run = 0;

            }

        if (img) {
            trax_image_list_clear(img); // Also delete individual images
            trax_image_list_release(&img);
        }
        if (reg) trax_region_release(&reg);

        fflush(stdout);
        fflush(stderr);
    }

    fflush(stdout);
    fflush(stderr);

    if (mem) trax_region_release(&mem);

    // *************************************
    // TraX: Call trax_cleanup at the end
    // *************************************

    if (log) fclose(log);
    trax_cleanup(&trax);

    return 0;
}