//static
LLVector2 LLUI::getWindowSize()
{
LLCoordWindow window_rect;
sWindow->getSize(&window_rect);
return LLVector2(window_rect.mX / getScaleFactor().mV[VX], window_rect.mY / getScaleFactor().mV[VY]);
}
//static
void LLUI::setMousePositionScreen(S32 x, S32 y)
{
S32 screen_x, screen_y;
screen_x = llround((F32)x * getScaleFactor().mV[VX]);
screen_y = llround((F32)y * getScaleFactor().mV[VY]);
LLView::getWindow()->setCursorPosition(LLCoordGL(screen_x, screen_y).convert());
}
//static
void LLUI::getMousePositionScreen(S32 *x, S32 *y)
{
LLCoordWindow cursor_pos_window;
getWindow()->getCursorPosition(&cursor_pos_window);
LLCoordGL cursor_pos_gl(cursor_pos_window.convert());
*x = llround((F32)cursor_pos_gl.mX / getScaleFactor().mV[VX]);
*y = llround((F32)cursor_pos_gl.mY / getScaleFactor().mV[VX]);
}
void ScaleX::execEvent()
{
g_log.information("Processing event workspace");
const MatrixWorkspace_const_sptr matrixInputWS = this->getProperty("InputWorkspace");
const std::string op = getPropertyValue("Operation");
EventWorkspace_const_sptr inputWS=boost::dynamic_pointer_cast<const EventWorkspace>(matrixInputWS);
// generate the output workspace pointer
API::MatrixWorkspace_sptr matrixOutputWS = this->getProperty("OutputWorkspace");
EventWorkspace_sptr outputWS;
if (matrixOutputWS == matrixInputWS)
outputWS = boost::dynamic_pointer_cast<EventWorkspace>(matrixOutputWS);
else
{
//Make a brand new EventWorkspace
outputWS = boost::dynamic_pointer_cast<EventWorkspace>(API::WorkspaceFactory::Instance().create("EventWorkspace", inputWS->getNumberHistograms(), 2, 1));
//Copy geometry over.
API::WorkspaceFactory::Instance().initializeFromParent(inputWS, outputWS, false);
//You need to copy over the data as well.
outputWS->copyDataFrom( (*inputWS) );
//Cast to the matrixOutputWS and save it
matrixOutputWS = boost::dynamic_pointer_cast<MatrixWorkspace>(outputWS);
this->setProperty("OutputWorkspace", matrixOutputWS);
}
int numHistograms = static_cast<int>(inputWS->getNumberHistograms());
PARALLEL_FOR1(outputWS)
for (int i=0; i < numHistograms; ++i)
{
PARALLEL_START_INTERUPT_REGION
//Do the offsetting
if ((i >= m_wi_min) && (i <= m_wi_max))
{
if(op=="Multiply")
{
outputWS->getEventList(i).scaleTof(getScaleFactor(inputWS, i));
if( m_algFactor < 0 )
{
outputWS->getEventList(i).reverse();
}
}
else if(op=="Add")
{
outputWS->getEventList(i).addTof(getScaleFactor(inputWS, i));
}
}
m_progress->report("Scaling X");
PARALLEL_END_INTERUPT_REGION
}
PARALLEL_CHECK_INTERUPT_REGION
outputWS->clearMRU();
}
void ScalingLayer::renderToTarget(MyGUI::IRenderTarget *_target, bool _update)
{
MyGUI::IntSize globalViewSize = MyGUI::RenderManager::getInstance().getViewSize();
MyGUI::IntSize viewSize = globalViewSize;
float scale = getScaleFactor();
viewSize.width /= scale;
viewSize.height /= scale;
float hoffset = (globalViewSize.width - mViewSize.width*getScaleFactor())/2.f / static_cast<float>(globalViewSize.width);
float voffset = (globalViewSize.height - mViewSize.height*getScaleFactor())/2.f / static_cast<float>(globalViewSize.height);
ProxyRenderTarget proxy(_target, viewSize, hoffset, voffset);
MyGUI::OverlappedLayer::renderToTarget(&proxy, _update);
}
/**
* Handle pointer releases.
* @param point The pointer position on the screen.
*/
void ScreenImageSwiper::handlePointerReleased(MAPoint2d point)
{
// Search for the image on the center of the screen.
int centeredImage = -1;
for (int i = 0; i < mImagesSize; ++i)
{
if ( mImages[i]->isOnScreenCenter(mScreenWidth) )
{
centeredImage = i;
break;
}
}
// Align images to grid.
if (centeredImage >= 0)
{
mLabelLayout->setText(mImages[centeredImage]->getName());
int offset = mImages[centeredImage]->getGridOffset(mScreenWidth);
for (int i = 0; i < mImagesSize; ++i)
{
mImages[i]->update(offset, 0);
}
}
float scaleFactor = getScaleFactor();
mPointerXStart = (int)((float) point.x * scaleFactor);
mPointerXEnd = (int)((float) point.x * scaleFactor);
}
BOOL PieMenu::handleHover(S32 x, S32 y, MASK mask)
{
// initialize pie scale factor for popup effect
F32 factor = getScaleFactor();
// initially, the current segment is marked as invalid
mCurrentSegment = -1;
// remember to take the UI scaling into account
LLVector2 scale = gViewerWindow->getDisplayScale();
// move mouse coordinates to be relative to the pie center
LLVector2 mouseVector(x - PIE_OUTER_SIZE / scale.mV[VX], y - PIE_OUTER_SIZE / scale.mV[VY]);
// get the distance from the center point
F32 distance = mouseVector.length();
// check if our mouse pointer is within the pie slice area
if (distance > PIE_INNER_SIZE && (distance < (PIE_OUTER_SIZE * factor) || mFirstClick))
{
// get the angle of the mouse pointer from the center in radians
F32 angle = acos(mouseVector.mV[VX] / distance);
// if the mouse is below the middle of the pie, reverse the angle
if (mouseVector.mV[VY] < 0)
{
angle = F_PI * 2 - angle;
}
// rotate the angle slightly so the slices' centers are aligned correctly
angle += F_PI / 8;
// calculate slice number from the angle
mCurrentSegment = (S32) (8.f * angle / (F_PI * 2.f)) % 8;
}
return TRUE;
}
/**
* Handle pointer presses.
* @param point The pointer position on the screen.
*/
void ScreenImageSwiper::handlePointerPressed(MAPoint2d point)
{
// Set start and end swipe point to the touch down point.
float scaleFactor = getScaleFactor();
mPointerXStart = (int)((float) point.x * scaleFactor);
mPointerXEnd = (int)((float) point.x * scaleFactor);
}
NutrientAmount FoodAmount::getScaledCaloriesFromNutrientId
(const QString& nutrId) const
{
if (getFood() == NULL) {
throw std::logic_error("Attempted to scale the nutrients of an undefined food.");
}
return getFood()->getCaloriesFromNutrientId(nutrId) * getScaleFactor();
}
void ImageEditor::cropImage(){
if(selRect.isNull()){ return; }
qreal sf = getScaleFactor();
QRect srect = QRect( qRound(selRect.x()/sf), qRound(selRect.y()/sf), qRound(selRect.width()/sf), qRound(selRect.height()/sf));
fullIMG = fullIMG.copy(srect);
scaledIMG = fullIMG.scaled( defaultSize, Qt::KeepAspectRatio,Qt::SmoothTransformation);
selRect = QRect();
emit selectionChanged(false);
this->update(); //trigger paint event
}
// -----------------------------------------------------------------------------
//
// -----------------------------------------------------------------------------
void ScaleVolume::readFilterParameters(AbstractFilterParametersReader* reader, int index)
{
reader->openFilterGroup(this, index);
setApplyToVoxelVolume( reader->readValue("ApplyToVoxelVolume", getApplyToVoxelVolume()) );
setApplyToSurfaceMesh( reader->readValue("ApplyToSurfaceMesh", getApplyToSurfaceMesh()) );
setScaleFactor( reader->readFloatVec3("ScaleFactor", getScaleFactor() ) );
setDataContainerName(reader->readString("DataContainerName", getDataContainerName()));
setSurfaceDataContainerName(reader->readString("SurfaceDataContainerName", getSurfaceDataContainerName()));
reader->closeFilterGroup();
}
void
IntersectActor::setupChildrenPriorities(void)
{
UInt32 numChildren = getNumChildren ();
UInt32 numExtraChildren = getNumExtraChildren();
Real32 scaleFactor = getScaleFactor();
Real32 hitDist = getHitDistance();
Real32 bvEnter;
Real32 bvExit;
setChildrenListEnabled(true);
for(UInt32 i = 0; i < numChildren; ++i)
{
#ifndef OSG_2_PREP
const DynamicVolume &vol = getChild(i)->editVolume(true);
#else
const BoxVolume &vol = getChild(i)->editVolume(true);
#endif
if((vol.intersect(getRay(), bvEnter, bvExit) == true ) &&
(bvEnter * scaleFactor < hitDist) )
{
setChildPriority(i, -bvEnter * scaleFactor);
}
else
{
setChildActive (i, false);
}
}
for(UInt32 i = 0; i < numExtraChildren; ++i)
{
#ifndef OSG_2_PREP
const DynamicVolume &vol = getChild(i)->editVolume(true);
#else
const BoxVolume &vol = getChild(i)->editVolume(true);
#endif
if((vol.intersect(getRay(), bvEnter, bvExit) == true ) &&
(bvEnter * scaleFactor < hitDist) )
{
setExtraChildPriority(i, -bvEnter * scaleFactor);
}
else
{
setExtraChildActive (i, false);
}
}
}
vgm::MatrixR Transform::gethMatrix() const
{
vgm::MatrixR matrix;
matrix.setTransform(
getTranslation(),
getRotation(),
getScaleFactor(),
getScaleOrientation(),
getCenter()
);
return ( matrix );
}
void TmultiScore::resizeEvent(QResizeEvent* event) {
int hh = height(), ww = width();
if (event) {
hh = event->size().height();
ww = event->size().width();
}
if (m_inMode == e_single) {
if (ww < 300 || hh < 200)
return;
TsimpleScore::resizeEvent(event);
} else {
if (ww < 400 || hh < 200)
return;
qreal factor = getScaleFactor(hh, m_scale);
scoreScene()->prepareToChangeRect();
scale(factor, factor);
qreal oldStaffWidth = staff()->viewWidth();
for (int i = 0; i < m_staves.size(); i++)
adjustStaffWidth(m_staves[i]);
if (oldStaffWidth != staff()->viewWidth()) {
// TODO: another routine for non-rhythms
for (int i = 0; i < m_staves.size(); i++) {
qreal staffContentWidth = m_staves[i]->contentWidth(m_staves[i]->gapFactor());
if (staffContentWidth != m_staves[i]->width()) {
qDebug() << debug() << "staff width changed about" << qAbs(staffContentWidth - m_staves[i]->width()) << "- fitting";
m_staves[i]->fit();
m_staves[i]->updateNotesPos();
}
}
for (int i = 0; i < m_staves.size(); i++) {
if (m_staves[i]->count() == 0)
deleteLastStaff();
}
}
qreal staffOff = staff()->isPianoStaff() ? 1.1 : 0.0;
for (int i = 0; i < m_staves.size(); i++) {
if (i == 0)
m_staves[i]->setPos(staffOff, 0.0);
else
m_staves[i]->setPos(staffOff, m_staves[i - 1]->pos().y() + m_staves[i - 1]->loNotePos() - m_staves[i]->hiNotePos() +
((staff()->hasScordature() && i == 1) ? 7.0 : 4.0));
}
updateSceneRect();
}
}
void ScalingLayer::screenToLayerCoords(int& _left, int& _top) const
{
float scale = getScaleFactor();
if (scale <= 0.f)
return;
MyGUI::IntSize globalViewSize = MyGUI::RenderManager::getInstance().getViewSize();
_left -= globalViewSize.width/2;
_top -= globalViewSize.height/2;
_left /= scale;
_top /= scale;
_left += mViewSize.width/2;
_top += mViewSize.height/2;
}
QVector<FoodAmount> FoodAmount::getScaledComponents() const
{
// See getScaledNutrients for logic description
if (getFood() == NULL) {
throw std::logic_error("Attempted to scale the components of an undefined food.");
}
QVector<FoodAmount> components = getFood()->getComponentAmounts();
double scaleFactor = getScaleFactor();
for (QVector<FoodAmount>::iterator i = components.begin(); i != components.end(); ++i)
{
(*i) *= scaleFactor;
}
return components;
}
QMap<QString, NutrientAmount> FoodAmount::getScaledNutrients() const
{
// TODO: Cache this instead of recomputing every time
if (getFood() == NULL) {
throw std::logic_error("Attempted to scale the nutrients of an undefined food.");
}
QMap<QString, NutrientAmount> nutrients = getFood()->getNutrients();
double scaleFactor = getScaleFactor();
for (QMap<QString, NutrientAmount>::iterator i = nutrients.begin();
i != nutrients.end(); ++i)
{
(*i) *= scaleFactor;
}
return nutrients;
}
//-----------------------------------------------------------------------------
void D2DDrawContext::drawBitmap (CBitmap* bitmap, const CRect& dest, const CPoint& offset, float alpha)
{
if (renderTarget == 0)
return;
D2DApplyClip ac (this);
if (ac.isEmpty ())
return;
double transformedScaleFactor = getScaleFactor ();
CGraphicsTransform t = getCurrentTransform ();
if (t.m11 == t.m22 && t.m12 == 0 && t.m21 == 0)
transformedScaleFactor *= t.m11;
IPlatformBitmap* platformBitmap = bitmap->getBestPlatformBitmapForScaleFactor (transformedScaleFactor);
D2DBitmap* d2dBitmap = platformBitmap ? dynamic_cast<D2DBitmap*> (platformBitmap) : 0;
if (d2dBitmap)
{
if (d2dBitmap->getSource ())
{
ID2D1Bitmap* d2d1Bitmap = D2DBitmapCache::instance ()->getBitmap (d2dBitmap, renderTarget);
if (d2d1Bitmap)
{
double bitmapScaleFactor = platformBitmap->getScaleFactor ();
CGraphicsTransform bitmapTransform;
bitmapTransform.scale (bitmapScaleFactor, bitmapScaleFactor);
Transform transform (*this, bitmapTransform.inverse ());
CRect d (dest);
d.makeIntegral ();
CRect source (dest);
source.offset (-source.left, -source.top);
source.offset (offset.x, offset.y);
bitmapTransform.transform (source);
D2D1_RECT_F sourceRect = makeD2DRect (source);
renderTarget->DrawBitmap (d2d1Bitmap, makeD2DRect (d), alpha * currentState.globalAlpha, D2D1_BITMAP_INTERPOLATION_MODE_LINEAR, &sourceRect);
}
}
}
}
/**
* Updates the bounding volumes of a model. In this case the OOBB
* is used to speed up the calculation of the bounding sphere and the
* AABB
*
* Fast calculation idea copied from
* http://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
*/
void _updateBoundingVolumes()
{
glm::mat4 model = getModelMatrix();
glm::mat4 absModel(glm::abs(model[0][0]), glm::abs(model[0][1]), glm::abs(model[0][2]), glm::abs(model[0][3]),
glm::abs(model[1][0]), glm::abs(model[1][1]), glm::abs(model[1][2]), glm::abs(model[1][3]),
glm::abs(model[2][0]), glm::abs(model[2][1]), glm::abs(model[2][2]), glm::abs(model[2][3]),
glm::abs(model[3][0]), glm::abs(model[3][1]), glm::abs(model[3][2]), glm::abs(model[3][3]));
glm::vec3 center = (_oobb.getMin() + _oobb.getMax()) / 2.0f;
glm::vec3 extent = (_oobb.getMax() - _oobb.getMin()) / 2.0f;
glm::vec3 newCenter = glm::vec3(model * glm::vec4(center, 1.0f));
glm::vec3 newExtent = glm::vec3(absModel * glm::vec4(extent, 0.0f));
glm::vec3 min = newCenter - newExtent;
glm::vec3 max = newCenter + newExtent;
_aabb.setMin(newCenter - newExtent);
_aabb.setMax(newCenter + newExtent);
_boundingSphere.setRadius(glm::length(_maxLengthVertex * getScaleFactor()));
}
void ImageEditor::scaleDown(int val){
qreal sf = getScaleFactor();
sf-= ((qreal) val)/100.0;
if(sf<0.1){ sf = 0.1; }
rescaleImage(sf);
}
void translate(const double x, const double y) {
opengl::translate(x * getScaleFactor(), y * getScaleFactor());
}
//static
void LLUI::screenPointToGL(S32 screen_x, S32 screen_y, S32 *gl_x, S32 *gl_y)
{
*gl_x = llround((F32)screen_x * getScaleFactor().mV[VX]);
*gl_y = llround((F32)screen_y * getScaleFactor().mV[VY]);
}
//static
void LLUI::glPointToScreen(S32 gl_x, S32 gl_y, S32 *screen_x, S32 *screen_y)
{
*screen_x = llround((F32)gl_x / getScaleFactor().mV[VX]);
*screen_y = llround((F32)gl_y / getScaleFactor().mV[VY]);
}
// -----------------------------------------------------------------------------
//
// -----------------------------------------------------------------------------
void ScaleVolume::setupFilterParameters()
{
FilterParameterVector parameters;
parameters.push_back(FloatVec3FilterParameter::New("Scaling Factor", "ScaleFactor", getScaleFactor(), FilterParameter::Parameter));
QStringList linkedProps("DataContainerName");
parameters.push_back(LinkedBooleanFilterParameter::New("Apply to Image Geometry", "ApplyToVoxelVolume", getApplyToVoxelVolume(), linkedProps, FilterParameter::Parameter));
{
DataContainerSelectionFilterParameter::RequirementType req;
req.dcGeometryTypes = QVector<unsigned int>(1, DREAM3D::GeometryType::ImageGeometry);
parameters.push_back(DataContainerSelectionFilterParameter::New("Data Container Image Geometry to Scale", "DataContainerName", getDataContainerName(), FilterParameter::RequiredArray, req));
}
linkedProps.clear();
linkedProps << "SurfaceDataContainerName";
parameters.push_back(LinkedBooleanFilterParameter::New("Apply to Surface Geometry", "ApplyToSurfaceMesh", getApplyToSurfaceMesh(), linkedProps, FilterParameter::Parameter));
{
DataContainerSelectionFilterParameter::RequirementType req;
QVector<unsigned int> dcGeometryTypes;
dcGeometryTypes.push_back(DREAM3D::GeometryType::TriangleGeometry);
dcGeometryTypes.push_back(DREAM3D::GeometryType::QuadGeometry);
req.dcGeometryTypes = dcGeometryTypes;
parameters.push_back(DataContainerSelectionFilterParameter::New("Data Container Surface Geometry to Scale", "SurfaceDataContainerName", getSurfaceDataContainerName(), FilterParameter::RequiredArray, req));
}
setFilterParameters(parameters);
}
// -----------------------------------------------------------------------------
//
// -----------------------------------------------------------------------------
void ScaleVolume::setupFilterParameters()
{
FilterParameterVector parameters;
parameters.push_back(FloatVec3FilterParameter::New("Scaling Factor", "ScaleFactor", getScaleFactor(), FilterParameter::Parameter));
QStringList linkedProps("DataContainerName");
parameters.push_back(LinkedBooleanFilterParameter::New("Apply to Image Geometry", "ApplyToVoxelVolume", getApplyToVoxelVolume(), linkedProps, FilterParameter::Parameter));
parameters.push_back(DataContainerSelectionFilterParameter::New("Data Container Image Geometry to Scale", "DataContainerName", getDataContainerName(), FilterParameter::RequiredArray));
linkedProps.clear();
linkedProps << "SurfaceDataContainerName";
parameters.push_back(LinkedBooleanFilterParameter::New("Apply to Surface Geometry", "ApplyToSurfaceMesh", getApplyToSurfaceMesh(), linkedProps, FilterParameter::Parameter));
parameters.push_back(DataContainerSelectionFilterParameter::New("Data Container Surface Geometry to Scale", "SurfaceDataContainerName", getSurfaceDataContainerName(), FilterParameter::RequiredArray));
setFilterParameters(parameters);
}
cv::Mat motionEstimation_node::imageCallback(sensor_msgs::ImagePtr &left, sensor_msgs::ImagePtr &right)
{
/* try
{
cv::imshow("left", cv_bridge::toCvShare(left, "bgr8")->image);
cv::imshow("right", cv_bridge::toCvShare(right, "bgr8")->image);
cv::waitKey(30);
}*/
if(image_sub_count == 0)
{
//right;
features = getStrongFeaturePoints(image_L1, 100, 0.001, 20);
refindFeaturePoints(left, right, features, points_L1_temp, points_R1_temp);
if (10 > points_L1_temp.size())
{
ROS_INFO("Could not find more than features in stereo 1:");
}
else
{
camera.left = left;
camera.right = right;
cam.push_back(camera);
}
}
image_sub_count++;
while(image_sub_count > 0)
{
skipFrameNumber++;
if(4 < skipFrameNumber)
{
ROS_INFO("NO MOVEMENT FOR LAST 4 FRAMES");
image_sub_count = 0;
break;
}
refindFeaturePoints(camera.left, left, points_L1_temp, points_L1, points_L2);
refindFeaturePoints(camera.right, right, points_R1_temp, points_R1, points_R2);
deleteUnvisiblePoints(points_L1_temp, points_R1_temp, points_L1, points_R1, points_L2, points_R2, camera.left.cols, camera.left.rows);
if(0 == points_L1.size())
{
image_sub_count--;
ROS_INFO("Could not find more than features in stereo 2:");
break;
}
if (1 == mode)
{
if (8 > points_L1.size())
{
ROS_INFO("NO MOVEMENT: to less points found");
image_sub_count--;
break;
}
getInliersFromHorizontalDirection(make_pair(points_L1, points_R1), inliersHorizontal_L1, inliersHorizontal_R1);
getInliersFromHorizontalDirection(make_pair(points_L2, points_R2), inliersHorizontal_L2, inliersHorizontal_R2);
deleteZeroLines(points_L1, points_R1, points_L2, points_R2, inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2);
if (8 > inliersHorizontal_L1.size())
{
ROS_INFO("NO MOVEMENT: couldn't find horizontal points... probably rectification fails or to less feature points found?!");
image_sub_count--;
break;
}
foundF_L = getFundamentalMatrix(points_L1, points_L2, &inliersF_L1, &inliersF_L2, F_L);
foundF_R = getFundamentalMatrix(points_R1, points_R2, &inliersF_R1, &inliersF_R2, F_R);
deleteZeroLines(inliersF_L1, inliersF_L2, inliersF_R1, inliersF_R2);
if (1 > inliersF_L1.size())
{
ROS_INFO("NO MOVEMENT: couldn't find enough ransac inlier");
image_sub_count--;
break;
}
drawCorresPoints(camera.left, inliersF_L1, inliersF_L2, "inlier F left " , CV_RGB(0,0,255));
drawCorresPoints(camera.right, inliersF_R1, inliersF_R2, "inlier F right " , CV_RGB(0,0,255));
bool poseEstimationFoundES_L = false;
bool poseEstimationFoundES_R = false;
if(foundF_L)
{
poseEstimationFoundES_L = motionEstimationEssentialMat(inliersF_L1, inliersF_L2, F_L, K_L, T_E_L, R_E_L);
}
if(foundF_R)
{
poseEstimationFoundES_R = motionEstimationEssentialMat(inliersF_R1, inliersF_R2, F_R, K_R, T_E_R, R_E_R);
}
if (!poseEstimationFoundES_L && !poseEstimationFoundES_R)
{
image_sub_count--;
break;
T_E_L = cv::Mat::zeros(3, 1, CV_32F);
R_E_L = cv::Mat::eye(3, 3, CV_32F);
T_E_R = cv::Mat::zeros(3, 1, CV_32F);
R_E_R = cv::Mat::eye(3, 3, CV_32F);
}
else if (!poseEstimationFoundES_L)
{
T_E_L = cv::Mat::zeros(3, 1, CV_32F);
R_E_L = cv::Mat::eye(3, 3, CV_32F);
}
else if (!poseEstimationFoundES_R)
{
T_E_R = cv::Mat::zeros(3, 1, CV_32F);
R_E_R = cv::Mat::eye(3, 3, CV_32F);
}
cv::Mat PK_0 = K_L * P_0;
cv::Mat PK_LR = K_R * P_LR;
TriangulatePointsHZ(PK_0, PK_LR, points_L1, points_R1, 0, pointCloud_1);
TriangulatePointsHZ(PK_0, PK_LR, points_L2, points_R2, 0, pointCloud_2);
#if 1
composeProjectionMat(T_E_L, R_E_L, P_L);
composeProjectionMat(T_E_R, R_E_R, P_R);
cv::Mat PK_L = K_L * P_L;
cv::Mat PK_R = K_R * P_R;
getScaleFactor(PK_0, PK_LR, PK_L, PK_R, points_L1, points_R1, points_L2, points_R2, u_L1, u_R1, stereoCloud, nearestPoints);
ROS_INFO( "skipFrameNumber : %d", skipFrameNumber);
if(u_L1 < -1 || u_L1 > 1000*skipFrameNumber)
{
ROS_INFO("scale factors for left cam is too big: %d ", u_L1);
//skipFrame = true;
//continue;
}
else
{
T_E_L = T_E_L * u_L1;
}
if(u_R1 < -1 || u_R1 > 1000*skipFrameNumber )
{
ROS_INFO( "scale factors for right cam is too big: %d ", u_R1);
//skipFrame = true;
//continue;
}
else
{
T_E_R = T_E_R * u_R1;
}
#if 0
// get RGB values for pointcloud representation
std::vector<cv::Vec3b> RGBValues;
for (unsigned int i = 0; i < points_L1.size(); ++i){
uchar grey = camera.left.at<uchar>(points_L1[i].x, points_L1[i].y);
RGBValues.push_back(cv::Vec3b(grey,grey,grey));
}
std::vector<cv::Vec3b> red;
for (unsigned int i = 0; i < 5; ++i){
red.push_back(cv::Vec3b(0,0,255));
}
AddPointcloudToVisualizer(stereoCloud, "cloud1" + std::to_string(frame1), RGBValues);
AddPointcloudToVisualizer(nearestPoints, "cloud2" + std::to_string(frame1), red);
#endif
#else
// 2. method:
float u_L2, u_R2;
getScaleFactor2(T_LR, R_LR, T_E_L, R_E_L, T_E_R, u_L2, u_R2);
if(u_L2 < -1000 || u_R2 < -1000 || u_L2 > 1000 || u_R2 > 1000 ){
std::cout << "scale factors to small or to big: L: " << u_L2 << " R: " << u_R2 << std::endl;
} else {
T_E_L = T_E_L * u_L2;
T_E_R = T_E_R * u_R2;
}
//compare both methods
ROS_INFO("u links 2:%d ", u_L2);
ROS_INFO("u rechts 2:%d", u_R2);
#endif
ROS_INFO("translation 1:%d ", T_E_L);
cv::Mat newTrans3D_E_L;
getNewTrans3D( T_E_L, R_E_L, newTrans3D_E_L);
cv::Mat newPos_ES_L;
getAbsPos(currentPos_ES_L, newTrans3D_E_L, R_E_L.t(), newPos_ES_L);
cv::Mat rotation_ES_L, translation_ES_L;
decomposeProjectionMat(newPos_ES_L, translation_ES_L, rotation_ES_L);
cv::Mat newPos_ES_mean = newPos_ES_L + newPos_ES_R;
newPos_ES_mean /= 2;
cv::Mat rotation_ES_mean, translation_ES_mean;
decomposeProjectionMat(newPos_ES_mean, translation_ES_mean, rotation_ES_mean);
geometry_msgs::Pose pose;
pose.position.x = rotation_ES_mean(0);
pose.position.y = rotation_ES_mean(1);
pose.position.z = rotation_ES_mean(2);
posePublisher_.publish(pose);
Eigen::Matrix3f m;
m = translation_ES_mean;
float roll;
float pitch;
float yaw;
roll = atan2(m(3,2), m(3,3));
pitch = atan(-m(3,1)/(m(3,2)*sin(roll)+m(3,3)*cos(roll)));
yaw = atan2(m(2,1),m(1,1));
currentPos_ES_mean = newPos_ES_mean;
currentPos_ES_L = newPos_ES_L;
currentPos_ES_R = newPos_ES_R;
ROS_INFO("abs. position ", translation_ES_mean);
}
if(2 == mode)
{
if (8 > points_L1.size())
{
ROS_INFO("NO MOVEMENT: to less points found");
image_sub_count--;
break;
}
std::vector<cv::Point2f> inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2;
getInliersFromHorizontalDirection(make_pair(points_L1, points_R1), inliersHorizontal_L1, inliersHorizontal_R1);
getInliersFromHorizontalDirection(make_pair(points_L2, points_R2), inliersHorizontal_L2, inliersHorizontal_R2);
//delete all points that are not correctly found in stereo setup
deleteZeroLines(points_L1, points_R1, points_L2, points_R2, inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2);
if (8 > points_L1.size())
{
ROS_INFO("NO MOVEMENT: couldn't find horizontal points... probably rectification fails or to less feature points found?!");
image_sub_count--;
break;
}
cv::Mat F_L;
bool foundF_L;
std::vector<cv::Point2f> inliersF_L1, inliersF_L2;
foundF_L = getFundamentalMatrix(points_L1, points_L2, &inliersF_L1, &inliersF_L2, F_L);
// compute fundemental matrix F_R1R2 and get inliers from Ransac
cv::Mat F_R;
bool foundF_R;
std::vector<cv::Point2f> inliersF_R1, inliersF_R2;
foundF_R = getFundamentalMatrix(points_R1, points_R2, &inliersF_R1, &inliersF_R2, F_R);
// make sure that there are all inliers in all frames.
deleteZeroLines(inliersF_L1, inliersF_L2, inliersF_R1, inliersF_R2);
drawCorresPoints(image_R1, inliersF_R1, inliersF_R2, "inlier F right " , CV_RGB(0,0,255));
drawCorresPoints(image_L1, inliersF_L1, inliersF_L2, "inlier F left " , CV_RGB(0,0,255));
// calibrate projection mat
cv::Mat PK_0 = K_L * P_0;
cv::Mat PK_LR = K_R * P_LR;
std::vector<cv::Point3f> pointCloud_1, pointCloud_2;
TriangulatePointsHZ(PK_0, PK_LR, inliersF_L1, inliersF_R1, 0, pointCloud_1);
TriangulatePointsHZ(PK_0, PK_LR, inliersF_L2, inliersF_R2, 0, pointCloud_2);
#if 1
//LEFT:
bool poseEstimationFoundTemp_L = false;
cv::Mat T_PnP_L, R_PnP_L;
if(foundF_L){
// GUESS TRANSLATION + ROTATION UP TO SCALE!!!
poseEstimationFoundTemp_L = motionEstimationEssentialMat(inliersF_L1, inliersF_L2, F_L, K_L, T_PnP_L, R_PnP_L);
}
if (!poseEstimationFoundTemp_L){
image_sub_count--;
break;
}
#if 0
// scale factor:
float u_L1;
cv::Mat P_L;
composeProjectionMat(T_PnP_L, R_PnP_L, P_L);
// calibrate projection mat
cv::Mat PK_L = K_L * P_L;
getScaleFactorLeft(PK_0, PK_LR, PK_L, inliersF_L1, inliersF_R1, inliersF_L2, u_L1);
if(u_L1 < -1 || u_L1 > 1000 ){
ROS_INFO("scale factors to small or to big: L: ", u_L1);
image_sub_count--;
break;
}
T_PnP_L = T_PnP_L * u_L1;
#endif
bool poseEstimationFoundPnP_L = motionEstimationPnP(inliersF_L2, pointCloud_1, K_L, T_PnP_L, R_PnP_L);
if (!poseEstimationFoundPnP_L)
{
image_sub_count--;
break;
}
if(cv::norm(T_PnP_L) > 1500.0 * skipFrameNumber)
{
// this is bad...
ROS_INFO("NO MOVEMENT: estimated camera movement is too big, skip this camera.. T = ", cv::norm(T_PnP_L));
image_sub_count--;
break;
}
cv::Mat newTrans3D_PnP_L;
getNewTrans3D( T_PnP_L, R_PnP_L, newTrans3D_PnP_L);
cv::Mat newPos_PnP_L;
getAbsPos(currentPos_PnP_L, newTrans3D_PnP_L, R_PnP_L, newPos_PnP_L);
cv::Mat rotation_PnP_L, translation_PnP_L;
decomposeProjectionMat(newPos_PnP_L, translation_PnP_L, rotation_PnP_L);
pose.position.x = rotation_PnP_L(0);
pose.position.y = rotation_PnP_L(1);
pose.position.z = rotation_PnP_L(2);
posePublisher_.publish(pose);
Eigen::Matrix3f m;
m = translation_ES_mean;
float roll;
float pitch;
float yaw;
roll = atan2(m(3,2), m(3,3));
pitch = atan(-m(3,1)/(m(3,2)*sin(roll)+m(3,3)*cos(roll)));
yaw = atan2(m(2,1),m(1,1));
currentPos_PnP_L = newPos_PnP_L ;
#else
//RIGHT:
bool poseEstimationFoundTemp_R = false;
cv::Mat T_PnP_R, R_PnP_R;
if(foundF_R){
// GUESS TRANSLATION + ROTATION UP TO SCALE!!!
poseEstimationFoundTemp_R = motionEstimationEssentialMat(inliersF_R1, inliersF_R2, F_R, K_R, KInv_R, T_PnP_R, R_PnP_R);
}
if (!poseEstimationFoundTemp_R){
skipFrame = true;
continue;
}
// use initial guess values for pose estimation
bool poseEstimationFoundPnP_R = motionEstimationPnP(inliersF_R2, pointCloud_1, K_R, T_PnP_R, R_PnP_R);
if (!poseEstimationFoundPnP_R){
skipFrame = true;
continue;
}
cv::Mat newTrans3D_PnP_R;
getNewTrans3D( T_PnP_R, R_PnP_R, newTrans3D_PnP_R);
cv::Mat newPos_PnP_R;
getAbsPos(currentPos_PnP_R, newTrans3D_PnP_R, R_PnP_R, newPos_PnP_R);
cv::Mat rotation_PnP_R, translation_PnP_R;
decomposeProjectionMat(newPos_PnP_R, translation_PnP_R, rotation_PnP_R);
pose.position.x = rotation_PnP_R(0);
pose.position.y = rotation_PnP_R(1);
pose.position.z = rotation_PnP_R(2);
posePublisher_.publish(pose);
Eigen::Matrix3f m;
m = translation_ES_mean;
float roll;
float pitch;
float yaw;
roll = atan2(m(3,2), m(3,3));
pitch = atan(-m(3,1)/(m(3,2)*sin(roll)+m(3,3)*cos(roll)));
yaw = atan2(m(2,1),m(1,1));
currentPos_PnP_R = newPos_PnP_R ;
#endif
}
if (3 == mode)
{
std::vector<cv::Point2f> inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2;
getInliersFromHorizontalDirection(make_pair(points_L1, points_R1), inliersHorizontal_L1, inliersHorizontal_R1);
getInliersFromHorizontalDirection(make_pair(points_L2, points_R2), inliersHorizontal_L2, inliersHorizontal_R2);
//delete all points that are not correctly found in stereo setup
deleteZeroLines(points_L1, points_R1, points_L2, points_R2, inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2);
if (8 > points_L1.size())
{
ROS_INFO("NO MOVEMENT: couldn't find horizontal points... probably rectification fails or to less feature points found?!");
image_sub_count--;
break;
}
drawCorresPoints(image_L1, points_L1, points_R1, "inlier F1 links rechts", cv::Scalar(255,255,0));
drawCorresPoints(image_L2, points_L2, points_R2, "inlier F2 links rechts", cv::Scalar(255,255,0));
// calibrate projection mat
cv::Mat PK_0 = K_L * P_0;
cv::Mat PK_LR = K_R * P_LR;
// TRIANGULATE POINTS
std::vector<cv::Point3f> pointCloud_1, pointCloud_2;
TriangulatePointsHZ(PK_0, PK_LR, points_L1, points_R1, 0, pointCloud_1);
TriangulatePointsHZ(PK_0, PK_LR, points_L2, points_R2, 0, pointCloud_2);
float reproj_error_1L = calculateReprojectionErrorHZ(PK_0, points_L1, pointCloud_1);
float reproj_error_1R = calculateReprojectionErrorHZ(PK_LR, points_R1, pointCloud_1);
if (!positionCheck(P_0, pointCloud_2) && !positionCheck(P_LR, pointCloud_2) && reproj_error_2L < 10.0 && reproj_error_2R < 10.0 )
{
ROS_INFO("second pointcloud seem's to be not perfect..");
image_sub_count--;
break;
}
#if 0
//load disparity map
cv::Mat dispMap1;
cv::FileStorage fs_dist1(dataPath + "disparity/disparity_"+to_string(frame)+".yml", cv::FileStorage::READ);
fs_dist1["disparity"] >> dispMap1;
fs_dist1.release();
cv::Mat dispMap2;
cv::FileStorage fs_dist2(dataPath + "disparity/disparity_"+to_string(frame+1)+".yml", cv::FileStorage::READ);
fs_dist2["disparity"] >> dispMap2;
fs_dist2.release();
dispMap1.convertTo(dispMap1, CV_32F);
dispMap2.convertTo(dispMap2, CV_32F);
std::vector <cv::Mat_<float>> cloud1;
std::vector <cv::Mat_<float>> cloud2;
for(unsigned int i = 0; i < inlier_median_L1.size(); ++i){
cv::Mat_<float> point3D1(1,4);
cv::Mat_<float> point3D2(1,4);
calcCoordinate(point3D1, Q, dispMap1, inlier_median_L1[i].x, inlier_median_L1[i].y);
calcCoordinate(point3D2, Q, dispMap2, inlier_median_L2[i].x, inlier_median_L2[i].y);
cloud1.push_back(point3D1);
cloud2.push_back(point3D2);
}
std::vector<cv::Point3f> pcloud1, pcloud2;
std::vector<cv::Vec3b> rgb1, rgb2;
for (unsigned int i = 0; i < cloud1.size(); ++i) {
if (!cloud1[i].empty() && !cloud2[i].empty()){
pcloud1.push_back(cv::Point3f(cloud1[i](0), cloud1[i](1), cloud1[i](2) ));
pcloud2.push_back(cv::Point3f(cloud2[i](0), cloud2[i](1), cloud2[i](2) ));
rgb1.push_back(cv::Vec3b(255,0,0));
rgb2.push_back(cv::Vec3b(0,255,0));
}
}
AddPointcloudToVisualizer(pcloud1, "pcloud1", rgb1);
AddPointcloudToVisualizer(pcloud2, "pcloud2", rgb2);
cv::Mat T_Stereo, R_Stereo;
bool poseEstimationFoundStereo = motionEstimationStereoCloudMatching(pcloud1, pcloud2, T_Stereo, R_Stereo);
#else
cv::Mat T_Stereo, R_Stereo;
bool poseEstimationFoundStereo = motionEstimationStereoCloudMatching(pointCloud_1, pointCloud_2, T_Stereo, R_Stereo);
#endif
if (!poseEstimationFoundStereo)
{
image_sub_count--;
break;
}
ROS_INFO("ROTATION \n");
ROS_INFO(R_Stereo);
ROS_INFO("\n TRANSLATION \n");
ROS_INFO(T_Stereo);
float x_angle, y_angle, z_angle;
decomposeRotMat(R_Stereo, x_angle, y_angle, z_angle);
ROS_INFO("x angle:", x_angle);
ROS_INFO("y angle:", y_angle);
ROS_INFO("z angle:", z_angle);
cv::Mat newTrans3D_Stereo;
getNewTrans3D( T_Stereo, R_Stereo, newTrans3D_Stereo);
cv::Mat newPos_Stereo;
getAbsPos(currentPos_Stereo, newTrans3D_Stereo, R_Stereo, newPos_Stereo);
cv::Mat rotation, translation;
decomposeProjectionMat(newPos_Stereo, translation, rotation);
pose.position.x = rotation(0);
pose.position.y = rotation(1);
pose.position.z = rotation(2);
posePublisher_.publish(pose);
Eigen::Matrix3f m;
m = translation;
float roll;
float pitch;
float yaw;
roll = atan2(m(3,2), m(3,3));
pitch = atan(-m(3,1)/(m(3,2)*sin(roll)+m(3,3)*cos(roll)));
yaw = atan2(m(2,1),m(1,1));
currentPos_Stereo = newPos_Stereo;
}
if (4 == mode)
{
// ######################## TRIANGULATION TEST ################################
// get inlier from stereo constraints
std::vector<cv::Point2f> inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2;
getInliersFromHorizontalDirection(make_pair(points_L1, points_R1), inliersHorizontal_L1, inliersHorizontal_R1);
getInliersFromHorizontalDirection(make_pair(points_L2, points_R2), inliersHorizontal_L2, inliersHorizontal_R2);
//delete all points that are not correctly found in stereo setup
deleteZeroLines(points_L1, points_R1, points_L2, points_R2, inliersHorizontal_L1, inliersHorizontal_R1, inliersHorizontal_L2, inliersHorizontal_R2);
drawCorresPoints(image_L1, points_L1, points_R1, "inlier 1 " , CV_RGB(0,0,255));
drawCorresPoints(image_R1, points_L2, points_R2, "inlier 2 " , CV_RGB(0,0,255));
if(0 == points_L1.size()){
image_sub_count--;
break;
}
// calibrate projection mat
cv::Mat PK_0 = K_L * P_0;
cv::Mat PK_LR = K_R * P_LR;
std::vector<cv::Point3f> pointCloud_1, pointCloud_2;
TriangulatePointsHZ(PK_0, PK_LR, points_L1, points_R1, 0, pointCloud_1);
TriangulatePointsHZ(PK_0, PK_LR, points_L2, points_R2, 0, pointCloud_2);
if(0 == pointCloud_1.size())
{
ROS_INFO("horizontal inlier: can't find any corresponding points in all 4 frames' ");
image_sub_count--;
break;
}
// get RGB values for pointcloud representation
std::vector<cv::Vec3b> RGBValues;
for (unsigned int i = 0; i < points_L1.size(); ++i)
{
uchar grey = image_L1.at<uchar>(points_L1[i].x, points_L1[i].y);
RGBValues.push_back(cv::Vec3b(grey,grey,grey));
}
AddPointcloudToVisualizer(pointCloud_1, "cloud1" + std::to_string(frame1), RGBValues);
#if 1
// int index = 0;
// for (auto i : pointCloud_1) {
// float length = sqrt( i.x*i.x + i.y*i.y + i.z*i.z);
// cout<< "HZ: "<< index << ": " << i << " length: " << length << endl;
// ++index;
// }
std::vector<cv::Point3f> pcloud_CV;
TriangulateOpenCV(PK_0, PK_LR, points_L1, points_R1, pcloud_CV);
// index = 0;
// for (auto i : pcloud_CV) {
// float length = sqrt( i.x*i.x + i.y*i.y + i.z*i.z);
// cout<< "CV: "<< index << ": " << i << " length: " << length << endl;
// ++index;
// }
std::vector<cv::Vec3b> RGBValues2;
for (unsigned int i = 0; i < points_L1.size(); ++i){
//uchar grey2 = image_L2.at<uchar>(points_L2[i].x, points_L2[i].y);
//RGBValues2.push_back(cv::Vec3b(grey2,grey2,grey2));
RGBValues2.push_back(cv::Vec3b(255,0,0));
}
AddPointcloudToVisualizer(pcloud_CV, "cloud2" + std::to_string(frame1), RGBValues2);
#endif
}
}
//---------------------------------------------------------------------------
void GameCamera::render(void)
{
//------------------------------------------------------
// At present, these actually draw. Later they will
// add elements to the draw list and sort and draw.
// The later time has arrived. We begin sorting immediately.
// NO LONGER NEED TO SORT!
// ZBuffer time has arrived. Share and Enjoy!
// Everything SIMPLY draws at the execution point into the zBuffer
// at the correct depth. Miracles occur at that point!
// Big code change but it removes a WHOLE bunch of code and memory!
//--------------------------------------------------------
// Get new viewport values to scale stuff. No longer uses
// VFX stuff for this. ALL GOS NOW!
gos_GetViewport(&viewMulX, &viewMulY, &viewAddX, &viewAddY);
MidLevelRenderer::MLRState default_state;
default_state.SetBackFaceOn();
default_state.SetDitherOn();
default_state.SetTextureCorrectionOn();
default_state.SetZBufferCompareOn();
default_state.SetZBufferWriteOn();
default_state.SetFilterMode(MidLevelRenderer::MLRState::BiLinearFilterMode);
float z = 1.0f;
Stuff::RGBAColor fColor;
fColor.red = ((fogColor >> 16) & 0xff);
fColor.green = ((fogColor >> 8) & 0xff);
fColor.blue = ((fogColor)&0xff);
//--------------------------------------------------------
// Get new viewport values to scale stuff. No longer uses
// VFX stuff for this. ALL GOS NOW!
screenResolution.x = viewMulX;
screenResolution.y = viewMulY;
calculateProjectionConstants();
TG_Shape::SetViewport(viewMulX, viewMulY, viewAddX, viewAddY);
userInput->setViewport(viewMulX, viewMulY, viewAddX, viewAddY);
gos_TextSetRegion(viewAddX, viewAddY, viewMulX, viewMulY);
//--------------------------------------------------------
// Get new viewport values to scale stuff. No longer uses
// VFX stuff for this. ALL GOS NOW!
screenResolution.x = viewMulX;
screenResolution.y = viewMulY;
calculateProjectionConstants();
globalScaleFactor = getScaleFactor();
globalScaleFactor *= viewMulX / 640.0; // Scale Mechs to ScreenRES
//-----------------------------------------------
// Set Ambient for this pass of rendering
uint32_t lightRGB = (ambientRed << 16) + (ambientGreen << 8) + ambientBlue;
eye->setLightColor(1, lightRGB);
eye->setLightIntensity(1, 1.0);
MidLevelRenderer::PerspectiveMode = usePerspective;
theClipper->StartDraw(cameraOrigin, cameraToClip, fColor, &fColor, default_state, &z);
MidLevelRenderer::GOSVertex::farClipReciprocal =
(1.0f - cameraToClip(2, 2)) / cameraToClip(3, 2);
if (active && turn > 1)
{
//----------------------------------------------------------
// Turn stuff on line by line until perspective is working.
if (Environment.Renderer != 3)
theSky->render(1);
land->render(); // render the Terrain
if (Environment.Renderer != 3)
craterManager->render(); // render the craters and footprints
ObjectManager->render(true, true, true); // render all other objects
land->renderWater(); // Draw Water Last!
if (useShadows && Environment.Renderer != 3)
ObjectManager->renderShadows(true, true, true);
if (mission && mission->missionInterface)
mission->missionInterface->drawVTOL();
if (!drawOldWay && !inMovieMode)
{
if (compass && (turn > 3) && drawCompass)
compass->render(-1); // Force this to zBuffer in front of everything
}
if (!drawOldWay)
mcTextureManager->renderLists(); // This sends triangles down to the
// card. All "rendering" to this
// point has been setting up tri
// lists
if (drawOldWay)
{
// Last thing drawn were shadows which are not Gouraud Shaded!!!
// MLR to be "efficient" doesn't set this state by default at
// startup!
gos_SetRenderState(gos_State_ShadeMode, gos_ShadeGouraud);
}
theClipper->RenderNow(); // Draw the FX
if (useNonWeaponEffects)
weather->render(); // Draw the weather
}
if (drawOldWay && !inMovieMode)
{
gos_SetRenderState(gos_State_ZCompare, 0);
gos_SetRenderState(gos_State_ZWrite, 0);
gos_SetRenderState(gos_State_Perspective, 1);
if (compass && (turn > 3) && drawCompass)
compass->render();
}
//---------------------------------------------------------
// Check if we are inMovieMode and should be letterboxed.
// draw letterboxes here.
if (inMovieMode && (letterBoxPos != 0.0f))
{
// Figure out the two faces we need to draw based on letterBox Pos and
// Alpha
float barTopX = screenResolution.y * letterBoxPos;
float barBotX = screenResolution.y - barTopX;
gos_SetRenderState(gos_State_AlphaMode, gos_Alpha_AlphaInvAlpha);
gos_SetRenderState(gos_State_ShadeMode, gos_ShadeGouraud);
gos_SetRenderState(gos_State_MonoEnable, 0);
gos_SetRenderState(gos_State_Perspective, 0);
gos_SetRenderState(gos_State_Clipping, 1);
gos_SetRenderState(gos_State_AlphaTest, 1);
gos_SetRenderState(gos_State_Specular, 0);
gos_SetRenderState(gos_State_Dither, 1);
gos_SetRenderState(gos_State_TextureMapBlend, gos_BlendModulate);
gos_SetRenderState(gos_State_Filter, gos_FilterNone);
gos_SetRenderState(gos_State_TextureAddress, gos_TextureClamp);
gos_SetRenderState(gos_State_ZCompare, 0);
gos_SetRenderState(gos_State_ZWrite, 0);
gos_SetRenderState(gos_State_Texture, 0);
//------------------------------------
gos_VERTEX gVertex[4];
gVertex[0].x = 0.0f;
gVertex[0].y = 0.0f;
gVertex[0].z = 0.00001f;
gVertex[0].rhw = 0.00001f;
gVertex[0].u = 0.0f;
gVertex[0].v = 0.0f;
gVertex[0].argb = (letterBoxAlpha << 24);
gVertex[0].frgb = 0xff000000;
gVertex[1].x = 0.0f;
gVertex[1].y = barTopX;
gVertex[1].z = 0.00001f;
gVertex[1].rhw = 0.00001f;
gVertex[1].u = 0.0f;
gVertex[1].v = 0.0f;
gVertex[1].argb = (letterBoxAlpha << 24);
gVertex[1].frgb = 0xff000000;
gVertex[2].x = screenResolution.x;
gVertex[2].y = barTopX;
gVertex[2].z = 0.00001f;
gVertex[2].rhw = 0.00001f;
gVertex[2].u = 0.0f;
gVertex[2].v = 0.0f;
gVertex[2].argb = (letterBoxAlpha << 24);
gVertex[2].frgb = 0xff000000;
gVertex[3].x = screenResolution.x;
gVertex[3].y = 0.0f;
gVertex[3].z = 0.00001f;
gVertex[3].rhw = 0.00001f;
gVertex[3].u = 0.0f;
gVertex[3].v = 0.0f;
gVertex[3].argb = (letterBoxAlpha << 24);
gVertex[3].frgb = 0xff000000;
gos_DrawQuads(gVertex, 4);
gVertex[0].x = 0.0f;
gVertex[0].y = barBotX;
gVertex[0].z = 0.00001f;
gVertex[0].rhw = 0.00001f;
gVertex[0].u = 0.0f;
gVertex[0].v = 0.0f;
gVertex[0].argb = (letterBoxAlpha << 24);
gVertex[0].frgb = 0xff000000;
gVertex[1].x = screenResolution.x;
gVertex[1].y = barBotX;
gVertex[1].z = 0.00001f;
gVertex[1].rhw = 0.00001f;
gVertex[1].u = 0.0f;
gVertex[1].v = 0.0f;
gVertex[1].argb = (letterBoxAlpha << 24);
gVertex[1].frgb = 0xff000000;
gVertex[2].x = screenResolution.x;
gVertex[2].y = screenResolution.y;
gVertex[2].z = 0.00001f;
gVertex[2].rhw = 0.00001f;
gVertex[2].u = 0.0f;
gVertex[2].v = 0.0f;
gVertex[2].argb = (letterBoxAlpha << 24);
gVertex[2].frgb = 0xff000000;
gVertex[3].x = 0.0f;
gVertex[3].y = screenResolution.y;
gVertex[3].z = 0.00001f;
gVertex[3].rhw = 0.00001f;
gVertex[3].u = 0.0f;
gVertex[3].v = 0.0f;
gVertex[3].argb = (letterBoxAlpha << 24);
gVertex[3].frgb = 0xff000000;
gos_DrawQuads(gVertex, 4);
}
if (inMovieMode && (fadeAlpha != 0x0))
{
// We are fading to something other then clear screen.
gos_SetRenderState(gos_State_AlphaMode, gos_Alpha_AlphaInvAlpha);
gos_SetRenderState(gos_State_ShadeMode, gos_ShadeGouraud);
gos_SetRenderState(gos_State_MonoEnable, 0);
gos_SetRenderState(gos_State_Perspective, 0);
gos_SetRenderState(gos_State_Clipping, 1);
gos_SetRenderState(gos_State_AlphaTest, 1);
gos_SetRenderState(gos_State_Specular, 0);
gos_SetRenderState(gos_State_Dither, 1);
gos_SetRenderState(gos_State_TextureMapBlend, gos_BlendModulate);
gos_SetRenderState(gos_State_Filter, gos_FilterNone);
gos_SetRenderState(gos_State_TextureAddress, gos_TextureClamp);
gos_SetRenderState(gos_State_ZCompare, 0);
gos_SetRenderState(gos_State_ZWrite, 0);
gos_SetRenderState(gos_State_Texture, 0);
//------------------------------------
gos_VERTEX gVertex[4];
gVertex[0].x = 0.0f;
gVertex[0].y = 0.0f;
gVertex[0].z = 0.00001f;
gVertex[0].rhw = 0.00001f;
gVertex[0].u = 0.0f;
gVertex[0].v = 0.0f;
gVertex[0].argb = (fadeAlpha << 24) + (fadeColor & 0x00ffffff);
gVertex[0].frgb = 0xff000000;
gVertex[1].x = 0.0f;
gVertex[1].y = screenResolution.y;
gVertex[1].z = 0.00001f;
gVertex[1].rhw = 0.00001f;
gVertex[1].u = 0.0f;
gVertex[1].v = 0.0f;
gVertex[1].argb = (fadeAlpha << 24) + (fadeColor & 0x00ffffff);
gVertex[1].frgb = 0xff000000;
gVertex[2].x = screenResolution.x;
gVertex[2].y = screenResolution.y;
gVertex[2].z = 0.00001f;
gVertex[2].rhw = 0.00001f;
gVertex[2].u = 0.0f;
gVertex[2].v = 0.0f;
gVertex[2].argb = (fadeAlpha << 24) + (fadeColor & 0x00ffffff);
gVertex[2].frgb = 0xff000000;
gVertex[3].x = screenResolution.x;
gVertex[3].y = 0.0f;
gVertex[3].z = 0.00001f;
gVertex[3].rhw = 0.00001f;
gVertex[3].u = 0.0f;
gVertex[3].v = 0.0f;
gVertex[3].argb = (fadeAlpha << 24) + (fadeColor & 0x00ffffff);
gVertex[3].frgb = 0xff000000;
gos_DrawQuads(gVertex, 4);
}
//-----------------------------------------------------
}
void PieMenu::draw()
{
// save the current OpenGL drawing matrix so we can freely modify it
gGL.pushMatrix();
// save the widget's rectangle for later use
LLRect r = getRect();
// initialize pie scale factor for popup effect
F32 factor = getScaleFactor();
#if PIE_DRAW_BOUNDING_BOX
// draw a bounding box around the menu for debugging purposes
gl_rect_2d(0, r.getHeight(), r.getWidth(), 0, LLColor4::white, FALSE);
#endif
// set up pie menu colors
LLColor4 lineColor = LLUIColorTable::instance().getColor("PieMenuLineColor");
LLColor4 selectedColor = LLUIColorTable::instance().getColor("PieMenuSelectedColor");
LLColor4 textColor = LLUIColorTable::instance().getColor("PieMenuTextColor");
LLColor4 bgColor = LLUIColorTable::instance().getColor("PieMenuBgColor");
LLColor4 borderColor = bgColor % 0.3f;
// if the user wants their own colors, apply them here
static LLCachedControl<bool> sOverridePieColors(gSavedSettings, "OverridePieColors", false);
if (sOverridePieColors)
{
static LLCachedControl<F32> sPieMenuOpacity(gSavedSettings, "PieMenuOpacity");
static LLCachedControl<F32> sPieMenuFade(gSavedSettings, "PieMenuFade");
bgColor = LLUIColorTable::instance().getColor("PieMenuBgColorOverride") % sPieMenuOpacity;
borderColor = bgColor % (1.f - sPieMenuFade);
selectedColor = LLUIColorTable::instance().getColor("PieMenuSelectedColorOverride");
}
// on first click, make the menu fade out to indicate "borderless" operation
if (mFirstClick)
{
borderColor %= 0.f;
}
// move origin point to the center of our rectangle
gGL.translatef(r.getWidth() / 2, r.getHeight() / 2, 0);
// draw the general pie background
gl_washer_2d(PIE_OUTER_SIZE * factor, PIE_INNER_SIZE, 32, bgColor, borderColor);
// set up an item list iterator to point at the beginning of the item list
slice_list_t::iterator cur_item_iter;
cur_item_iter = mSlices->begin();
// clear current slice pointer
mSlice = NULL;
// current slice number is 0
S32 num = 0;
bool wasAutohide = false;
do
{
// standard item text color
LLColor4 itemColor = textColor;
// clear the label and set up the starting angle to draw in
std::string label("");
F32 segmentStart = F_PI / 4.f * (F32)num - F_PI / 8.f;
// iterate through the list of slices
if (cur_item_iter != mSlices->end())
{
// get current slice item
LLView* item = (*cur_item_iter);
// check if this is a submenu or a normal click slice
PieSlice* currentSlice = dynamic_cast<PieSlice*>(item);
PieMenu* currentSubmenu = dynamic_cast<PieMenu*>(item);
// advance internally to the next slice item
cur_item_iter++;
// in case it is regular click slice
if (currentSlice)
{
// get the slice label and tell the slice to check if it's supposed to be visible
label = currentSlice->getLabel();
currentSlice->updateVisible();
// disable it if it's not visible, pie slices never really disappear
BOOL slice_visible = currentSlice->getVisible();
currentSlice->setEnabled(slice_visible);
if (!slice_visible)
{
// LL_DEBUGS() << label << " is not visible" << LL_ENDL;
label = "";
}
// if the current slice is the start of an autohide chain, clear out previous chains
if (currentSlice->getStartAutohide())
{
wasAutohide = false;
}
// check if the current slice is part of an autohide chain
if (currentSlice->getAutohide())
{
// if the previous item already won the autohide, skip this item
if (wasAutohide)
{
continue;
}
// look at the next item in the pie
LLView* lookAhead = (*cur_item_iter);
// check if this is a normal click slice
PieSlice* lookSlice = dynamic_cast<PieSlice*>(lookAhead);
if (lookSlice)
{
// if the next item is part of the current autohide chain as well ...
if (lookSlice->getAutohide() && !lookSlice->getStartAutohide())
{
// ... it's visible and it's enabled, skip the current one.
// the first visible and enabled item in autohide chains wins
// this is useful for Sit/Stand toggles
lookSlice->updateEnabled();
lookSlice->updateVisible();
if (lookSlice->getVisible() && lookSlice->getEnabled())
{
continue;
}
// this item won the autohide contest
wasAutohide = true;
}
}
}
else
{
// reset autohide chain
wasAutohide = false;
}
// check if the slice is currently enabled
currentSlice->updateEnabled();
if (!currentSlice->getEnabled())
{
LL_DEBUGS() << label << " is disabled" << LL_ENDL;
// fade the item color alpha to mark the item as disabled
itemColor %= 0.3f;
}
}
// if it's a submenu just get the label
else if (currentSubmenu)
{
label = currentSubmenu->getLabel();
}
// if it's a slice or submenu, the mouse pointer is over the same segment as our counter and the item is enabled
if ((currentSlice || currentSubmenu) && (mCurrentSegment == num) && item->getEnabled())
{
// memorize the currently highlighted slice for later
mSlice = item;
// if we highlighted a different slice than before, we must play a sound
if (mOldSlice != mSlice)
{
// get the appropriate UI sound and play it
char soundNum = '0' + num;
std::string soundName = "UISndPieMenuSliceHighlight";
soundName += soundNum;
make_ui_sound(soundName.c_str());
// remember which slice we highlighted last, so we only play the sound once
mOldSlice = mSlice;
}
// draw the currently highlighted pie slice
gl_washer_segment_2d(PIE_OUTER_SIZE * factor, PIE_INNER_SIZE, segmentStart + 0.02f, segmentStart + F_PI / 4.f - 0.02f, 4, selectedColor, borderColor);
}
}
// draw the divider line for this slice
gl_washer_segment_2d(PIE_OUTER_SIZE * factor, PIE_INNER_SIZE, segmentStart - 0.02f, segmentStart + 0.02f, 4, lineColor, borderColor);
// draw the slice labels around the center
mFont->renderUTF8(label,
0,
PIE_X[num],
PIE_Y[num],
itemColor,
LLFontGL::HCENTER,
LLFontGL::VCENTER,
LLFontGL::NORMAL,
LLFontGL::DROP_SHADOW_SOFT);
// next slice
num++;
}
while (num < 8); // do this until the menu is full
// draw inner and outer circle, outer only if it was not the first click
if (!mFirstClick)
{
gl_washer_2d(PIE_OUTER_SIZE * factor, PIE_OUTER_SIZE * factor - 2.f, 32, lineColor, borderColor);
}
gl_washer_2d(PIE_INNER_SIZE + 1, PIE_INNER_SIZE - 1, 16, borderColor, lineColor);
// restore OpenGL drawing matrix
gGL.popMatrix();
// give control back to the UI library
LLView::draw();
}
/**
* Handle pointer moves.
* @param point The pointer position on the screen.
*/
void ScreenImageSwiper::handlePointerMoved(MAPoint2d point)
{
float scaleFactor = getScaleFactor();
// Update the end swipe position.
mPointerXEnd = (int)((float) point.x * scaleFactor);
}
// === PUBLIC SLOTS ===
void ImageEditor::scaleUp(int val){
qreal sf = getScaleFactor();
sf+= ((qreal) val)/100.0;
if(sf>2){ sf = 2.0; }
rescaleImage(sf);
}
