void GpsLocation::calculateXY()
{
KKJ outX(0);
KKJ outY(0);
WGS84lola_to_KKJxy(this->longitude, this->latitude, &outX, &outY);
this->m_x.setNum(outX);
this->m_y.setNum(outY);
}
void Map::save(QString dir)
{
QDir qDir(dir);
qDir.mkpath(dir);
if(dir[dir.size() - 1] != '\\')
dir += '\\';
leftPopulation -> savePopulation(dir + "LeftPopulation\\");
rightPopulation -> savePopulation(dir + "RightPopulation\\");
QFile *fileX = new QFile(dir + "mapX.save");
QFile *fileY = new QFile(dir + "mapY.save");
QFile *fileS = new QFile(dir + "mapS.save");
if (! fileX -> open(QIODevice::WriteOnly | QIODevice::Text) ||
! fileY -> open(QIODevice::WriteOnly | QIODevice::Text) ||
! fileS -> open(QIODevice::WriteOnly | QIODevice::Text) )
{
// Error while trying to write file
}
else
{
// Everything is OK
QTextStream outX(fileX);
QTextStream outY(fileY);
QTextStream outS(fileS);
outS << minDeltaX << "\n";
outS << maxDeltaX << "\n";
outS << minDeltaY << "\n";
outS << maxDeltaY << "\n";
outS << lengthStartEnd << "\n";
outS << lengthTotal << "\n";
outX << points.size() << "\n";
outY << points.size() << "\n";
for(int i = 0; i < points.size(); ++i)
{
QString tmp;
tmp = "";
tmp.setNum(points[i].x, 'f', 4);
outX << tmp << "\n";
tmp = "";
tmp.setNum(points[i].y, 'f', 4);
outY << tmp << "\n";
}
}
fileX -> close();
fileY -> close();
fileS -> close();
}
void lx(float* _A, float* _B, float* _X) {
/* aliases for all variables */
#define A(i, j) _A[(3*(j) + -4 + (i))]
#define B(i) _B[(-1 + (i))]
#define X(i) _X[(-1 + (i))]
#define C(t, p) _C[(3*(p) + -6 + (t))]
#define outX(t, p) X(p)
/* allocate memory for local variables */
float * _C = (float *) malloc(sizeof(float)*(6));
/* loops variables */
int i;
int p;
int t;
/* a few loops */
t = 2;
p = 1;
outX(t, p) = (B(p) / A(p, p));
t = 3;
p = 1;
C(t, p) = (A((-1 + t), p) * outX(2, p));
t = 4;
p = 1;
C(t, p) = (A((-1 + t), p) * outX(2, p));
p = 2;
outX(t, p) = ((B(p) - C((-1 + t), (-1 + p))) / A(p, p));
/* dead code removed */
t = 5; {
for (p = (-3 + t); p <= rfloor(((-1 + t)),(2)); ++p) {
C(t, p) = (C((-1 + t), (-1 + p)) + (A((-p + t), p) * outX(2*p, p)));
}
if (((t)%2) == 0) {
p = (t)/2;
outX(t, p) = ((B(p) - C((-1 + t), (-1 + p))) / A(p, p));
}
}
t = 6;
p = 3;
outX(t, p) = ((B(p) - C((-1 + t), (-1 + p))) / A(p, p));
/* clean up local variables' memory */
/* commented out because it was crashing at run time*/
/*
free(_C);
*/
/* and finally undef aliases */
#undef A
#undef B
#undef X
#undef C
#undef outX
}
cv::Mat flow_2_RGB( const cv::Mat &inpFlow, const float &max_size )
{
//////////////////////////
bool use_value = false;
cv::Mat sat;
cv::Mat rgbFlow;
//////////////////////////
if (inpFlow.empty()) exit(1);
if (inpFlow.depth() != CV_32F) { std::cout << "FlowTo RGB: error inpFlow wrong data type ( has be CV_32FC2" << std::endl; exit(1); }
if (!sat.empty() )
if( sat.type() != CV_8UC1) { std::cout << "FlowTo RGB: error sat must have type CV_8UC1" << std::endl; exit(1); }
const float grad2deg = (float)(90/3.141);
double satMaxVal = 0;
double minVal = 0;
if(!sat.empty())
{
cv::minMaxLoc(sat, &minVal, &satMaxVal);
satMaxVal = 255.0/satMaxVal;
}
cv::Mat pol(inpFlow.size(), CV_32FC2);
float mean_val = 0, min_val = 1000, max_val = 0;
for(int r = 0; r < inpFlow.rows; r++)
{
for(int c = 0; c < inpFlow.cols; c++)
{
cv::Mat1f inX( 1,1); inX(0,0)=inpFlow.at<cv::Point2f>(r,c).x;
cv::Mat1f inY( 1,1); inY(0,0)=inpFlow.at<cv::Point2f>(r,c).y;
cv::Mat1f outX(1,1);
cv::Mat1f outY(1,1);
cv::cartToPolar( inX, inY, outX, outY, false );
cv::Point2f polar;
polar.x = outX(0,0);
polar.y = outY(0,0);
polar.y *= grad2deg;
mean_val +=polar.x;
max_val = MAX(max_val, polar.x);
min_val = MIN(min_val, polar.x);
pol.at<cv::Point2f>(r,c) = cv::Point2f(polar.y,polar.x);
}
}
mean_val /= inpFlow.size().area();
float scale = max_val - min_val;
float shift = -min_val;
scale = 255.f/scale;
if( max_size > 0)
{
scale = 255.f/max_size;
shift = 0;
}
//calculate the angle, motion value
cv::Mat hsv(inpFlow.size(), CV_8UC3);
uchar * ptrHSV = hsv.ptr<uchar>();
int idx_val = (use_value) ? 2:1;
int idx_sat = (use_value) ? 1:2;
for(int r = 0; r < inpFlow.rows; r++, ptrHSV += hsv.step1())
{
uchar * _ptrHSV = ptrHSV;
for(int c = 0; c < inpFlow.cols; c++, _ptrHSV+=3)
{
cv::Point2f vpol = pol.at<cv::Point2f>(r,c);
_ptrHSV[0] = cv::saturate_cast<uchar>(vpol.x);
_ptrHSV[idx_val] = cv::saturate_cast<uchar>( (vpol.y + shift) * scale);
if( sat.empty())
_ptrHSV[idx_sat] = 255;
else
_ptrHSV[idx_sat] = 255- cv::saturate_cast<uchar>(sat.at<uchar>(r,c) * satMaxVal);
}
}
std::vector<cv::Mat> vec;
cv::split(hsv, vec);
cv::equalizeHist(vec[idx_val],vec[idx_val]);
cv::merge(vec,hsv);
cv::Mat rgbFlow32F;
cv::cvtColor(hsv, rgbFlow32F, CV_HSV2BGR);
rgbFlow32F.convertTo(rgbFlow, CV_8UC3);
///////////////
return rgbFlow;
///////////////
}
