void XmlOutput::addAttributeTag(const QString &attribute, const QString &value)
{
switch(currentState) {
case Bare:
case Tag:
//warn_msg(WarnLogic, "<%s>: Cannot add attribute since tags not open", tagStack.last().toLatin1().constData());
qDebug("<%s>: Cannot add attribute (%s) since tag's not open",
(tagStack.count() ? tagStack.last().toLatin1().constData() : "Root"),
attribute.toLatin1().constData());
return;
case Attribute:
break;
}
xmlFile << " " << doConversion(attribute) << "=\"" << doConversion(value) << "\"";
}
void XmlOutput::addDeclaration(const QString &version, const QString &encoding)
{
switch(currentState) {
case Bare:
break;
case Tag:
case Attribute:
//warn_msg(WarnLogic, "<%s>: Cannot add declaration when not in bare state", tagStack.last().toLatin1().constData());
qDebug("<%s>: Cannot add declaration when not in bare state", tagStack.last().toLatin1().constData());
return;
}
QString outData = QString("<?xml version=\"%1\" encoding=\"%2\"?>")
.arg(doConversion(version))
.arg(doConversion(encoding));
addRaw(outData);
}
void XmlOutput::closeTag()
{
switch(currentState) {
case Bare:
if (tagStack.count())
//warn_msg(WarnLogic, "<Root>: Cannot close tag in Bare state, %d tags on stack", tagStack.count());
qDebug("<Root>: Cannot close tag in Bare state, %d tags on stack", tagStack.count());
else
//warn_msg(WarnLogic, "<Root>: Cannot close tag, no tags on stack");
qDebug("<Root>: Cannot close tag, no tags on stack");
return;
case Tag:
decreaseIndent(); // <--- Pre-decrease indent
if (format == NewLine)
xmlFile << endl << currentIndent;
xmlFile << "</" << doConversion(tagStack.last()) << '>';
tagStack.pop_back();
break;
case Attribute:
xmlFile << " />";
tagStack.pop_back();
currentState = Tag;
decreaseIndent(); // <--- Post-decrease indent
break;
}
}
void
SoBuiltinFieldConverter::evaluate()
//
////////////////////////////////////////////////////////////////////////
{
// For efficiency and to reduce bloat, we don't use the standard
// SO_ENGINE_OUTPUT macro:
#ifdef DEBUG
if (input == NULL) {
SoDebugError::post("(internal) SoBuiltinFieldConverter::evaluate",
"NULL input field");
return;
}
#endif
// We know that our engineOutput cannot be disabled, since nobody
// but us has access to it. If we are connected from an
// engineOutput and that engineOutput is disabled, we still want
// to convert that value - this will happen the first time this
// engine is evaluated after the output is disabled. After the
// first time, notification will be blocked, so we don't have to
// check for a disabled output here.
for (int i = 0; i < output->getNumConnections(); i++) {
SoField *outField = (*output)[i];
if (!outField->isReadOnly())
doConversion(outField);
}
}
void LiftedAlgsConvertor::doLISApproxZ(LvrParams* params)
{
vector<vector<int> > evidenceIntRep;
vector<vector<int> > queriesIntRep;
vector<string> queryStrings;
doConversion(queriesIntRep,evidenceIntRep,queryStrings,false);
liftedAlgsHandler->LISApproxPartition(params);
}
void LiftedAlgsConvertor::doLISApproxMar(LvrParams* params)
{
vector<vector<int> > evidenceIntRep;
vector<vector<int> > queriesIntRep;
vector<string> queryStrings;
doConversion(queriesIntRep,evidenceIntRep,queryStrings,false);
//create the singleton instance for queries
LvrQueryUpdater::createInstance(queriesIntRep,queryStrings,
params->resultFile,&evidenceIntRep);
liftedAlgsHandler->LISApproxMarginals(params);
}
void XmlOutput::newTagOpen(const QString &tag)
{
Q_ASSERT_X(tag.count(), "XmlOutput", "Cannot open an empty tag");
closeOpen();
if (format == NewLine)
xmlFile << endl << currentIndent;
xmlFile << '<' << doConversion(tag);
currentState = Attribute;
tagStack.append(tag);
increaseIndent(); // ---> indent
}
XmlOutput& XmlOutput::operator<<(const xml_output& o)
{
switch(o.xo_type) {
case tNothing:
break;
case tRaw:
addRaw(o.xo_text);
break;
case tDeclaration:
addDeclaration(o.xo_text, o.xo_value);
break;
case tTag:
newTagOpen(o.xo_text);
break;
case tCloseTag:
if (o.xo_value.count())
closeAll();
else if (o.xo_text.count())
closeTo(o.xo_text);
else
closeTag();
break;
case tAttribute:
addAttribute(o.xo_text, o.xo_value);
break;
case tData:
{
// Special case to be able to close tag in normal
// way ("</tag>", not "/>") without using addRaw()..
if (!o.xo_text.count()) {
closeOpen();
break;
}
QString output = doConversion(o.xo_text);
output.replace('\n', "\n" + currentIndent);
addRaw(QString("\n%1%2").arg(currentIndent).arg(output));
}
break;
case tComment:
{
QString output("<!--%1-->");
addRaw(output.arg(o.xo_text));
}
break;
case tCDATA:
{
QString output("<![CDATA[\n%1\n]]>");
addRaw(output.arg(o.xo_text));
}
break;
}
return *this;
}
void LiftedAlgsConvertor::doLBGMar(LvrParams* params)
{
vector<vector<int> > evidenceIntRep;
vector<vector<int> > queriesIntRep;
vector<string> queryStrings;
doConversion(queriesIntRep,evidenceIntRep,queryStrings,true);
if(params->operationMode != ECLUSTERING)
{
//create the singleton instance for queries
LvrQueryUpdater::createInstance(queriesIntRep,queryStrings,
params->resultFile,&evidenceIntRep);
}
//obtain the string representations of all queries to display
liftedAlgsHandler->LBGApproxMarginals(params);
}
void FormConversion::fahrenheitButtonClicked() {
UnitConversionInstruction::tempFrom = UnitConversionInstruction::tempTo;
UnitConversionInstruction::tempTo = 'f';
doConversion();
}
void FormConversion::celciusButtonClicked() {
UnitConversionInstruction::tempFrom = UnitConversionInstruction::tempTo;
UnitConversionInstruction::tempTo = 'c';
doConversion();
}
void FormConversion::kelvinButtonClicked() {
UnitConversionInstruction::tempFrom = UnitConversionInstruction::tempTo;
UnitConversionInstruction::tempTo = 'k';
doConversion();
}
void FormConversion::conversionButtonClicked() {
doConversion();
}
int main(int argc, const char *argv[])
{
// Init Default
RegistrationConfig reg_cfg;
reg_cfg.configFile3D_.clear();
reg_cfg.initTrans_.clear();
reg_cfg.initTrans_.append("0,0,0");
ConvertOctomapConfig co_cfg;
co_cfg.octomap_resolution = 0.1; // was always 0.1 for mav and atlas
co_cfg.blur_sigma = 0.1; // default was .5
co_cfg.blur_map = false;
AppConfig app_cfg;
const int ret = validateArgs(argc, argv, reg_cfg, co_cfg);
if (ret == -1)
return ret;
if (reg_cfg.cloud_name_A.empty())
{
reg_cfg.cloud_name_A.append(reg_cfg.homedir);
reg_cfg.cloud_name_A.append("/logs/multisenselog__2015-11-16/pointclouds/multisense_00.vtk");
}
if (reg_cfg.cloud_name_B.empty())
{
reg_cfg.cloud_name_B.append(reg_cfg.homedir);
reg_cfg.cloud_name_B.append("/logs/multisenselog__2015-11-16/pointclouds/multisense_01.vtk");
}
//std::cout << "Blur sigma: " << co_cfg.blur_sigma << "\n";
//Set up LCM channel for visualization
boost::shared_ptr<lcm::LCM> lcm(new lcm::LCM);
if(!lcm->good()){
std::cerr <<"ERROR: lcm is not good()" <<std::endl;
}
App* app = new App(lcm, reg_cfg, co_cfg, app_cfg);
// Load point clouds from file
DP ref = DP::load(reg_cfg.cloud_name_A);
DP data = DP::load(reg_cfg.cloud_name_B);
//=================================
// TRANSFORM 3D CLOUD
//=================================
app->registr_->getICPTransform(data, ref);
PM::TransformationParameters T = app->registr_->getTransform();
cout << "3D Transformation:" << endl << T << endl;
//=================================
// CONVERT CLOUD TO OCTREE
//=================================
app->do_convert_cloud_ = true;
if ( app->do_convert_cloud_ ) {
ColorOcTree* treeA = doConversion(app, 0);
//cout << "Pruned tree A size: " << treeA->size() <<" nodes." << endl;
cout << "Changes A:" << endl;
app->convert_->printChangesAndActual(*treeA);
// Uncomment for visualization of matching results one by one:
cout << "Press ENTER to continue..." << endl;
cin.get();
ColorOcTree* treeB = doConversion(app, 1);
//cout << "Pruned tree B size: " << treeB->size() <<" nodes." << endl;
cout << "Changes B:" << endl;
app->convert_->printChangesByColor(*treeB);
}
return 0;
}
