/*! The IntersectAction callback for Geometry. It computes if the ray used in
the IntersectAction \a action hits this object and if that is the case,
which triangle is hit.
\param[in] action IntersectAction performing the intersect test.
\return Action result code, \see OSG::Action.
\note This method is registered with the IntersectAction and automatically
called from there, you probably never have to call it manually.
*/
Action::ResultE Geometry::intersect(Action * action)
{
IntersectAction *ia = dynamic_cast<IntersectAction*>(action);
ia->getActNode()->updateVolume();
const BoxVolume &bv = ia->getActNode()->getVolume();
if(bv.isValid() && !bv.intersect(ia->getLine()))
{
return Action::Skip; //bv missed -> can not hit children
}
TriangleIterator it = this->beginTriangles();
TriangleIterator end = this->endTriangles ();
Real32 t;
Vec3f norm;
Line ia_line(ia->getLine());
for(; it != end; ++it)
{
if(ia_line.intersect(it.getPosition(0),
it.getPosition(1),
it.getPosition(2), t, &norm))
{
ia->setHit(t, ia->getActNode(), it.getIndex(), norm, -1);
}
}
// If we need to test lines, iterate over lines and test for
// lines that are within width distance from the line
if(ia->getTestLines())
{
Real32 range_sq = ia->getTestLineWidth();
range_sq = range_sq * range_sq;
LineIterator it = this->beginLines();
LineIterator end = this->endLines ();
Pnt3f pt1, pt2;
OSG::Vec3f norm;
// Find closest points and if they are within the range, then add a hit
for(; it != end; ++it)
{
Line cur_line(it.getPosition(0), it.getPosition(1));
ia_line.getClosestPoints(cur_line, pt1, pt2);
Real32 dist_sq( pt1.dist2(pt2) );
if (dist_sq <= range_sq)
{
t = ia_line.getPosition().dist(pt1);
ia->setHit(t, ia->getActNode(), -1, norm, it.getIndex());
}
}
}
return Action::Continue;
}
void Preprocessor::handleSpecialMacro(const LineIterator& line)
{
trim(*line);
if(*line == "skip whitespace")
rm_ws = !rm_ws;
else if(*line == "reduce whitespace")
rd_ws = !rd_ws;
else if(line->substr(0, 7) == "include")
handleIncludeMacro(line->substr(line->find(' ') + 1), line);
}
void Preprocessor::addMacro(const LineIterator& line)
{
*line = line->substr(1);
size_t pos = line->find(":=");
if(pos == std::string::npos)
return handleSpecialMacro(line);
std::string name = line->substr(0, pos);
trim(name);
std::string replacement = line->substr(pos + 2);
trim(replacement);
parseEscapes(replacement);
aliases.push_back(Alias(name, replacement));
}
bool INIFile::deleteLine(LineIterator line_it)
{
// test if line exists and if we try to remove a section line
if (!isValid(line_it) || (*line_it)[0] == '[')
{
return false;
}
// falls key, entfernen
if ((*line_it).hasSubstring("=", 1))
{
String key((*line_it).before("="));
key.trim();
line_it.getSection()->key_map_.remove(key);
}
line_it.getSection()->lines_.erase(line_it.position_);
return true;
}
bool INIFile::insertLine(LineIterator line_it, const String& line)
{
if (!isValid(line_it))
{
Log.error() << "In INIFile " << filename_ << " , error while inserting line: "
<< line << " . Illegal iterator!" << endl;
return false;
}
if (line_it.isSectionLastLine())
{
return appendLine(line_it.getSection()->getName(), line);
}
Section& section(*line_it.getSection());
// key?
if (line.hasSubstring("=", 1))
{
String key(line.before("="));
key.trim();
if (section.key_map_.has(key) && check_duplicate_keys_)
{
Log.error() << "In INIFile " << filename_ << " , error while appending line: "
<< line << " . Key '" << key << "' already exists in section." << endl;
return false;
}
line_it.getSectionNextLine();
section.key_map_[key] = section.lines_.insert(line_it.position_, line);
return true;
}
line_it.getSectionNextLine();
section.lines_.insert(line_it.position_, line);
return true;
}
bool INIFile::setLine(LineIterator line_it, const String& line)
{
// section lines cannot be changed with this method
if (!isValid(line_it) || (*line_it)[0] == '[')
{
return false;
}
String new_key(line.before("="));
new_key.trim();
if ((*line_it).hasSubstring("=", 1))
{
// oh, this line had a key :(
String old_key((*line_it).before("="));
old_key.trim();
if (old_key == new_key)
{
line_it.setLine_(line);
return true;
}
// its a new key: delete the old one.
line_it.getSection()->key_map_.remove(old_key);
}
line_it.setLine_(line);
if (line.hasSubstring("=", 1))
{
// oh, the new line has a key :(
line_it.getSection()->key_map_[new_key] = line_it.getPosition();
}
return true;
}
pair< Point, bool > findCorresPointLeft(Mat img1, Mat img2, Point p, LineIterator it2) {
Point match_pos = p;
long min_error = 10000000000;
int error_threshold = 10000;
vector< long > errors;
for(int i = 0; i < it2.count; i+=4)
{
Point cur_pt = it2.pos();
int disp = cur_pt.x - p.x;
if (abs(disp) > 60) {
for (int z = 0; z < 4; z++) it2++;
continue;
}
long error = 0;
int w = 7;
for (int k = -w; k <= w; k++) {
for (int j = -w; j <= w; j++) {
if (inImg(p.x + k, p.y + j) && inImg(cur_pt.x + k, cur_pt.y + j)) {
error += (long)(abs((img1.at<Vec3b>(p.y + j, p.x + k)[0] - img2.at<Vec3b>(cur_pt.y + j, cur_pt.x + k)[0]))
+abs((img1.at<Vec3b>(p.y + j, p.x + k)[1] - img2.at<Vec3b>(cur_pt.y + j, cur_pt.x + k)[1]))
+abs((img1.at<Vec3b>(p.y + j, p.x + k)[2] - img2.at<Vec3b>(cur_pt.y + j, cur_pt.x + k)[2])));
}
}
}
if (error < min_error) {
min_error = error;
match_pos = cur_pt;
}
errors.push_back(error);
for (int z = 0; z < 4; z++) ++it2;
}
bool good_match = true;
/*
int bad_points = 0;
float error_thresh = 1.1 * min_error;
for (int i = 0; i < errors.size(); i++) {
if (errors[i] < (long)error_thresh) bad_points++;
}
if (bad_points > 5) {
good_match = false;
}
*/
return make_pair(match_pos, good_match);
}
pair< Point, bool > findCorresPointRight(Mat img1, Mat img2, Point p, LineIterator it2) {
Point match_pos = p;
float min_error = 10000000000;
vector< long > errors;
Point2d p_dis = getDistortedPoint(p, K1, D1);
for(int i = 0; i < it2.count; i+=2)
{
Point cur_pt = it2.pos();
int disp = cur_pt.x - p.x;
if (abs(disp) > 70) {
for (int z = 0; z < 2; z++) it2++;
continue;
}
Point2d cur_pt_dis = getDistortedPoint(Point2d(cur_pt.x, cur_pt.y), K2, D2);
float error = 0;
//float error = costFunction(img1_distorted, img2_distorted, Point(p_dis.x, p_dis.y), Point(cur_pt_dis.x, cur_pt_dis.y), "SAD");
for (int k = -w; k <= w; k++) {
for (int l = -w; l <= w; l++) {
for (int ch = 0; ch < channels; ch++) {
error += abs(img1_distorted.at<Vec3b>(k+p_dis.y,l+p_dis.x)[ch] - img2_distorted.at<Vec3b>(k+cur_pt_dis.y,l+cur_pt_dis.x)[ch]);
}
}
}
if (error < min_error) {
min_error = error;
match_pos = cur_pt;
}
errors.push_back(error);
for (int z = 0; z < 2; z++) ++it2;
}
bool good_match = true;
/*
int bad_points = 0;
float error_thresh = 1.1 * min_error;
for (int i = 0; i < errors.size(); i++) {
if (errors[i] < (long)error_thresh) bad_points++;
}
if (bad_points > 5) {
good_match = false;
}
*/
return make_pair(match_pos, good_match);
}
bool INIFile::isValid(const LineIterator& it) const
{
return (it.isValid() && it.getBound_() == §ions_);
}
