void scene::generateDefaultScene()
{
//add bounding box
MyRectangle *roomFloor = new MyRectangle(vector3(-70, 0, 0), vector3(-70, 0, -201), vector3(70, 0, -201), materialConstants (0.7f,1.0f,1.0f, Rgb(0.9, 0.9, 0.3), 0));
//Utils::rotateFloorMyRectangle(roomFloor, pii/13);
float roomHeight = 130;
vector<Primitive *> parallelogramSides = getParrallelogramSides(roomFloor, roomHeight);
Primitive *leftSide = parallelogramSides[2];
Primitive *rightSide = parallelogramSides[3];
leftSide->setMaterial(materialConstants (1.0f,1.0f,1.0f, Rgb(1, 0.2, 0.2)));
rightSide->setMaterial(materialConstants (1.0f,1.0f,1.0f, Rgb(0.2, 1, 0.2)));
primitives.insert( primitives.end(), parallelogramSides.begin(), parallelogramSides.end() );
//add box
MyRectangle *base = new MyRectangle(vector3(-15, 0, -20), vector3(-45, 0, -20), vector3(-40, 0, -50), materialConstants (1.0f,1.0f,1.0f, Rgb(0.9, 0.9, 0.3), 0));
rotateFloorMyRectangle(base, pii/10);
float boxHeight = 50;
vector<Primitive *> baseSides = getParrallelogramSides(base, boxHeight);
primitives.insert( primitives.end(), baseSides.begin(), baseSides.end() );
//add sphere----------------------------------------
// Sphere *sp = new Sphere(20, vector3(-30, -20, -50), materialConstants (1.0f,0.2f, 1.0f, Rgb(0.9, 0.8, 0.3), 1, 0.9));//glossy
// Sphere *sp = new Sphere(20, vector3(-30, -20, -50), materialConstants (1.0f,0.2f, 1.0f, Rgb(0.9, 0.8, 0.3), 3, 0.9, 1.5));//refraction
Sphere *spMirror = new Sphere(12, vector3(-30, -boxHeight-12, -35), materialConstants (1.0f,0.2f, 1.0f, Rgb(0.8, 0.8, 0.8), 2, 0));//mirror
primitives.push_back(spMirror);
//add light----------------------------------------
MyRectangle *lightSource = new MyRectangle(vector3(-50, -roomHeight + 0.5f, -20), vector3(-50, -roomHeight + 0.5f, -150), vector3(50, -roomHeight + 0.5f, -150), materialConstants (Rgb(0.8, 1, 1)));
// MyRectangle *lightSource = new MyRectangle(vector3(-30, -roomHeight + 0.5f, -30), vector3(-30, -roomHeight + 0.5f, -110), vector3(30, -roomHeight + 0.5f, -110), materialConstants (Rgb(0.8, 1, 1)));
lightSource->setIslightSource(true);
cout << " LIGHT : " << lightSource->ifIsLightSource() << endl;
primitives.push_back(lightSource);
//cylindre-------------------------------------------
cylindre * cy = new cylindre(50, vector3(0,-1,0), vector3(37, 0, -30),17, materialConstants(1.0f,0.4f,1.0f, Rgb(1, 1, 1) , 1, 2.5));
QImage fanta = QImage("fanta.jpg");
cout << "height :"<< fanta.height() << endl;
cout << "width : "<< fanta.width() << endl;
cy->setTexture(fanta);
primitives.push_back(cy);
//refracting----------------------------------------------
Sphere *sp = new Sphere(12, vector3(10, -12, -72), materialConstants (1.0f,0.2f, 1.0f, Rgb(0.9, 0.8, 0.3), 3, 0.9, 1.2));//refraction
primitives.push_back(sp);
cout << " i'm alive " << endl;
}
Rgb HistFunctor::operator() ( double v) const {
if( ! std::isfinite(v))
return Rgb(0,0,0);
if( v < min_)
return Rgb(255,0,0);
if( v > max_)
return Rgb(0,255,0);
int gray = round(v * la_ + lb_);
if( gray < 0) gray = 0; if( gray > 255) gray = 255;
return Rgb(gray, gray, gray);
}
void ColorMap::interpose(int base)
{
/*保证基数大于0*/
assert(base>0);
int i,k,j;
float w;
float increaseStep;
float startStep;
Rgb c;
w=1;
k=0;
increaseStep = step/(base+1);
for(i=1;i<32;i++)
{
startStep = min + (k++)*step;
for(j=0;j<base;j++)
{
w=(float)j/base;
c=Rgb(
(int)(useMap[i-1].red()+(useMap[i].red()-useMap[i-1].red())*w),
(int)(useMap[i-1].green()+(useMap[i].green()-useMap[i-1].green())*w),
(int)(useMap[i-1].blue()+(useMap[i].blue()-useMap[i-1].blue())*w)
);
colorMap->insert(std::make_pair(startStep+increaseStep*j,c));
colorindex.push_back(startStep+increaseStep*j);
}
}
quicksort(colorindex,0,colorindex.size()-1);
}
void MyWindow::draw ()
{ int i,j,k,f;
double zre,zim,wre,wim,wrenew,deltax,deltay;
ULONG color;
bitmap->directcolor();
deltax=(Xmax-Xmin)/width();
deltay=(Ymax-Ymin)/height();
for (i=0; i<width(); i++)
{ zre=Xmin+i*deltax;
for (j=0; j<=height(); j++)
{ wre=zre;
wim=zim=Ymin+j*deltay;
for (k=0; k<Iterations; k++)
{ if (wim*wim+wre*wre>16) break;
wrenew=wre*wre-wim*wim+zre;
wim=2*wre*wim+zim;
wre=wrenew;
}
if (k<Iterations)
{ f=255l*k/Iterations;
color=Rgb(0,255-f,f);
}
else color=0;
bitmap->point(i,j,color);
}
if (i%10==0) copy();
}
window.update();
}
int Color::getBlue() const
{
switch (getType()) {
case Color::MaskType:
return 0;
case Color::RgbType:
return m_value.rgb.b;
case Color::HsvType:
return Rgb(Hsv(m_value.hsv.h,
double(m_value.hsv.s) / 100.0,
double(m_value.hsv.v) / 100.0)).blue();
case Color::GrayType:
return m_value.gray;
case Color::IndexType: {
int i = m_value.index;
ASSERT(i >= 0 && i < get_current_palette()->size());
return _rgba_getb(get_current_palette()->getEntry(i));
}
}
ASSERT(false);
return -1;
}
Rgb SpotLight::getRgb(const Vector3f& point)
{
Vector3f L = point - this->center;
float d = L.getLength();
Vector3f& D = direction;
Rgb retVal = Rgb(0,0,0);
//float Kc = 1;
//float Kl = 0;
//float Kq = 0;
float Kc = 0;
float Kl = 1;
float Kq = 0.1;
float dot = Vector3f::dotProduct(D, L);
float angleBetween = acosf( dot / (D.getLength()*L.getLength()) );
if (abs(angleBetween) > this->angle*2.0/180){
return retVal;
}
float d2 = pow(d,2);
retVal.x = (rgb.x * dot) / (Kc + Kl*d + Kq*d2);
retVal.y = (rgb.y * dot) / (Kc + Kl*d + Kq*d2);
retVal.z = (rgb.z * dot) / (Kc + Kl*d + Kq*d2);
retVal.x = (retVal.x > 1) ? 1 : retVal.x;
retVal.y = (retVal.y > 1) ? 1 : retVal.y;
retVal.z = (retVal.z > 1) ? 1 : retVal.z;
return retVal;
}
Rgb ProjectionPane::getPixel(int i, int j)
{
if ((i >= 0) & (j >= 0)
&(i < height) & (j < width))
return *pane[i][j];
else return Rgb(0,0,0);
}
Rgb ModelFactory::readColor()
{
bool eof;
uchar r = readerMtl->readFloat(eof) * 255 + 0.5;
uchar g = readerMtl->readFloat(eof) * 255 + 0.5;
uchar b = readerMtl->readFloat(eof) * 255 + 0.5;
return Rgb(r, g, b);
}
void ScavTaskColorShirt::callback_human_detection(const PointCloud::ConstPtr& msg) {
int color_cnt = 0;
switch (color) {
case RED: baseline = Rgb(255.0, 0.0, 0.0); break;
case BLUE: baseline = Rgb(0.0, 0.0, 255.0); break;
case GREEN: baseline = Rgb(0.0, 255.0, 0.0); break;
case YELLOW: baseline = Rgb(255.0, 255.0, 0.0); break;
case ORANGE: baseline = Rgb(191.0, 87.0, 0.0); break;
}
BOOST_FOREACH (const pcl::PointXYZRGB& pt, msg->points) {
// here we assume the waist height is 90cm, and neck height is 160cm;
// the robot sensor's height is 60cm
if (pt.y > SHIRT_HEIGHT_BOTTOM and pt.y < SHIRT_HEIGHT_TOP
and this->getColorDistance( &pt, &baseline) < DISTANCE_TO_COLOR) {
color_cnt++;
}
}
float ratio = (float) color_cnt / (float) msg->points.size();
ROS_INFO("ratio is %f", ratio);
if (ratio > COLOR_RATIO && ros::ok()) {
ROS_INFO_STREAM("person wearing" << color << "shirt detected");
boost::posix_time::ptime curr_time = boost::posix_time::second_clock::local_time();
std::string time_str = boost::posix_time::to_simple_string(curr_time);
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(image, sensor_msgs::image_encodings::BGR8);
if (false == boost::filesystem::is_directory(directory)) {
boost::filesystem::path tmp_path(directory);
boost::filesystem::create_directory(tmp_path);
}
path_to_image = directory + "color_shirt_" + time_str;
cv::imwrite(path_to_image, cv_ptr->image);
}
}
void Car::display(const Transform &viewProjectionTransform,
Transform worldTransform)
{
//
// Copy your previous (PA08) setting of `modelTransform` here.
//
if (path == NULL)
{
Transform identity;
modelTransform = identity;
}
else
{
// Perform in reverse order (c -> b -> a)
modelTransform = path->coordinateFrame(u); // "Set?"
modelTransform.scale(0.15, 0.075, 0.15); // Scale
modelTransform.translate(0.0, 0.25, 0.0); // Translate
}
if (eadsShaderProgram) { // will be NULL in the template
double specFrac = 0.25; // fraction of reflected power that's specular
Rgb ambDiffBaseRgb = (1.0 - specFrac) * baseRgb;
Transform identityTransform;
eadsShaderProgram->setEmittance(blackColor);
eadsShaderProgram->setAmbient(0.2 * ambDiffBaseRgb);
eadsShaderProgram->setDiffuse(0.8 * ambDiffBaseRgb);
eadsShaderProgram->setSpecular(Rgb(specFrac, specFrac, specFrac),
10.0);
worldTransform *= modelTransform;
eadsShaderProgram->setModelViewProjectionMatrix(
viewProjectionTransform * worldTransform);
eadsShaderProgram->setWorldMatrix(worldTransform);
eadsShaderProgram->setNormalMatrix(
worldTransform.getNormalTransform());
eadsShaderProgram->start();
}
// `solidOfRotation` will be NULL in the unmodified template.
if (solidOfRotation) {
solidOfRotation->draw();
const double quillLength = 0.04;
solidOfRotation->displayHedgehogIfRequested(viewProjectionTransform,
worldTransform,
quillLength);
}
if (controller.axesEnabled)
coordinateAxes->display(viewProjectionTransform, worldTransform);
}
Rgb ColormapFunction::operator()( double x) {
if( ! std::isfinite( x))
return Rgb(0,0,0);
//// x = x - 0.5 * scale1_;
//// x = (x-0.5) * exp( - 3 * scale2_) + 0.5;
//// version 1
//// double eps = 0.001;
//// double xx = (scale1_ + 1)/2;
//// double yy = (scale2_ + 1)/2;
//// xx = xx * ( 1 - 2 * eps) + eps;
//// yy = yy * ( 1 - 2 * eps) + eps;
//// double a = log(yy) / log(xx);
//// x = pow( x, a);
//// version 2
//// double max = 10;
//// double xx = (scale1_ + 1)/2;
//// double yy = scale2_;
//// double a = fabs(yy) * (max-1) + 1;
//// a = xx * (a-1) + 1;
//// if( yy > 0) a = 1/a;
//// x = pow( x, a);
//// version 3
// double maxndig = 10;
// double ndig = (scale2_ + 1) / 2 * maxndig;
// double expo = std::pow( 2.0, ndig);
// double xx = pow(scale1_ * 2, 3) / 8.0;
// m_gamma = fabs(xx) * expo + 1;
// if( scale1_ < 0) m_gamma = 1 / m_gamma;
x = std::pow( x, m_gamma);
if( reverse_) x = 1 - x;
Rgb rgb( 255 * red_(x), 255 * green_(x), 255 * blue_(x));
if( invert_) {
rgb.r = 255 - rgb.r;
rgb.g = 255 - rgb.g;
rgb.b = 255 - rgb.b;
}
rgb.r = round ( rgb.r * redScale_);
rgb.g = round ( rgb.g * greenScale_);
rgb.b = round ( rgb.b * blueScale_);
return rgb;
}
Rgb operator*(Rgb lhs, double rhs)
{
return Rgb(lhs.r * rhs, lhs.g * rhs, lhs.b * rhs, lhs.a * rhs);
}
Rgb cylindre::getLightLuminance(vector3 currPoint, vector3 objectNormal, vector3 lightPoint){
cout << "not implemented" << endl;
return Rgb(0,0,0);
}
CachedRgbFunction::CachedRgbFunction()
{
init( HistogramColormapFunctor(0,1,ColormapFunction::heat()), 0, 1, 10000, Rgb(0,0,0));
}
inline Rgb operator /( const Z& val ) const
{
return Rgb( T( ( Z )( ( *this )( 0 ) ) / val ),
T( ( Z )( ( *this )( 1 ) ) / val ),
T( ( Z )( ( *this )( 2 ) ) / val ) );
}
inline Rgb operator *( const Z& val ) const
{
return Rgb( T( ( Z )( *this )( 0 ) * val ),
T( ( Z )( *this )( 1 ) * val ),
T( ( Z )( *this )( 2 ) * val ) );
}
Rgb operator()(Line& line) const { return Rgb(0, 0, 0); }
// Light that bounces off only once
Rgb Dielectric::directRadiance(Intersection *intersection, Ray ray, Light *light)
{
// No contribution
return Rgb(0.0, 0.0, 0.0);
}
Rgb operator-(const Rgb& rhs) { return Rgb(-rhs.r, -rhs.g, -rhs.b, -rhs.a); }
Rgb operator+(Rgb lhs, Rgb rhs)
{
return Rgb(lhs.r + rhs.r, lhs.g + rhs.g, lhs.b + rhs.b, lhs.a + rhs.a);
}
Rgb operator+(double lhs, Rgb rhs)
{
return Rgb(lhs + rhs.r, lhs + rhs.g, lhs + rhs.b, lhs + rhs.a);
}
Rgb operator+(Rgb lhs, double rhs)
{
return Rgb(lhs.r + rhs, lhs.g + rhs, lhs.b + rhs, lhs.a + rhs);
}
if(mapIndex>(mapsize-1))
return;
currentMap=mapIndex;
memcpy((char*)useMap,(char*)maps[mapIndex],sizeof(useMap));
}
void ColorMap::setRange(float minValue,float maxValue)
{
max = maxValue;
min = minValue;
initial();
}
Rgb ColorMap::sebcolors[]={
Rgb(144,144,144),Rgb(0,0,255),Rgb(0,64,255),Rgb(0,95,255),
Rgb(0,127,255),Rgb(0,159,255),Rgb(0,191,255),Rgb(0,223,255),
Rgb(0,255,255),Rgb(32,255,223),Rgb(64,255,191),Rgb(95,255,159),
Rgb(127,255,127),Rgb(159,255,95),Rgb(191,255,64),Rgb(223,255,32),
Rgb(255,255,0),Rgb(255,223,0),Rgb(255,191,0),Rgb(255,159,0),
Rgb(255,127,0),Rgb(255,95,0),Rgb(255,64,0),Rgb(255,32,0),
Rgb(255,0,0),Rgb(255,0,64),Rgb(255,0,95),Rgb(255,0,127),
Rgb(255,0,159),Rgb(255,0,191),Rgb(255,0,223),Rgb(255,0,255)
};
Rgb ColorMap::gathercolors[]={
Rgb(0,0,255),Rgb(0,0,255),Rgb(1,1,255),Rgb(4,4,255),
Rgb(8,8,255),Rgb(14,14,255),Rgb(22,22,255),Rgb(33,33,255),
Rgb(45,45,255),Rgb(60,60,255),Rgb(79,79,255),Rgb(100,100,255),
Rgb(124,124,255),Rgb(152,152,255),Rgb(183,183,255),Rgb(217,217,255),
Rgb(255,255,255),Rgb(255,217,217),Rgb(255,183,183),Rgb(255,152,152),
Rgb operator-(Rgb lhs, Rgb rhs)
{
return Rgb(lhs.r - rhs.r, lhs.g - rhs.g, lhs.b - rhs.b, lhs.a - rhs.a);
}
Rgb operator*(Rgb lhs, Rgb rhs)
{
return Rgb(lhs.r * rhs.r, lhs.g * rhs.g, lhs.b * rhs.b, lhs.a * rhs.a);
}
/**
* @brief constructor for QUProfileController
* @param parent
* @param wcsHelper - coordinate/value formatter
* @param id
* @param title
* @param willDoFitting
*/
QUProfileController::QUProfileController(QObject * parent,
const QString & id,
const QString & title)
: QObject(parent)
{
m_myId = id;
m_pwPrefix = QString( "/quprofile-%1/").arg( m_myId);
m_viewName = QString( "quprofile-%1").arg( m_myId);
m_initialized = false;
// create a render buffer
m_buffer = QImage( 2, 2, QImage::QImage::Format_RGB888);
// setup fonts
m_labelFont = QFont( "Helvetica", 8);
m_captionFont = QFont( "Helvetica", 10, QFont::Normal);
m_labelFontMetrics.reset( new QFontMetricsF( m_labelFont));
m_captionFontMetrics.reset( new QFontMetricsF( m_captionFont));
// register a view with pureweb
CSI::PureWeb::Server::ViewImageFormat viewImageFormat;
viewImageFormat.PixelFormat = CSI::PureWeb::PixelFormat::Rgb24;
viewImageFormat.ScanLineOrder = CSI::PureWeb::ScanLineOrder::TopDown;
viewImageFormat.Alignment = 4;
GetStateManager().ViewManager().RegisterView(
m_viewName.toStdString(), this);
GetStateManager().ViewManager().SetViewImageFormat(
m_viewName.toStdString(), viewImageFormat);
GetStateManager ().ViewManager ().SetViewInteracting(
m_viewName.toStdString(), false);
// register PureWeb callback for all commands
GetStateManager().CommandManager().AddUiHandler(
("quprofile-" + m_myId).toStdString(),
CSI::Bind(this, & QUProfileController::commandDispatcher ));
// cursor requests are arriving as state changes
GetStateManager().XmlStateManager().AddValueChangedHandler(
QString("/requests/quprofile-%1/mouseHover").arg(m_myId).toStdString(),
CSI::Bind(this, &QUProfileController::mouseHoverRequestCB));
// set some defaults
m_total = 0;
m_cursorIndex = -1;
m_autoZoom = true;
// setup the colormap function (cached)
{
ColormapFunction cmap = ColormapFunction::sunbow();
cmap.setRgbScales( 0.5, 0.5, 0.5);
HistogramColormapFunctor hfun( 0, 1, cmap);
m_cmap.reset( new CachedRgbFunction( hfun, 0, 1, 256, Rgb(0,0,0)));
}
m_updateTimer = new QTimer( this);
m_updateTimer->setSingleShot( true);
m_updateTimer->setInterval(1);
// set up the graph labelers
m_vertLabeler = std::make_shared< Plot2dLabelers::BasicLabeler >();
// m_vertLabeler-> setDual( false);
m_horizLabeler = std::make_shared< Plot2dLabelers::BasicLabeler >();
// m_horizLabeler-> setDual( false);
// connect our update timer to callback
connect( m_updateTimer, SIGNAL(timeout()), this, SLOT(updateTimerCB()));
// create global variables reflecting the state of the object
m_ignoreVarCallbacks = true;
binder( this, m_vars.dotSize, "dotSize", 2.5);
binder( this, m_vars.transparency, "transparency", 0.5);
binder( this, m_vars.showCursor, "showCursor", true);
binder( this, m_vars.showMean, "showMean", true);
binder( this, m_vars.showGrid, "showGrid", true);
binder( this, m_vars.showSunbow, "showSunbow", true);
binder( this, m_vars.showConnectingLines, "showConnect", false);
binder( this, m_vars.visibleOnClient, "visibleOnClient", false);
// outgoing variables (no need to assign callbacks to these)
m_vars.qVal.reset( new GlobalState::StringVar( m_pwPrefix + "q"));
m_vars.uVal.reset( new GlobalState::StringVar( m_pwPrefix + "u"));
m_vars.qMean.reset( new GlobalState::StringVar( m_pwPrefix + "qmean"));
m_vars.uMean.reset( new GlobalState::StringVar( m_pwPrefix + "umean"));
m_vars.frame.reset( new GlobalState::StringVar( m_pwPrefix + "frame"));
m_vars.title.reset( new GlobalState::StringVar( m_pwPrefix + "title"));
m_vars.title-> set( title);
// unsuspend callback
m_ignoreVarCallbacks = false;
markDirty();
}
Rgb operator/(Rgb lhs, double rhs)
{
return Rgb(lhs.r / rhs, lhs.g / rhs, lhs.b / rhs, lhs.a / rhs);
}
