Eigen::MatrixXd MainWindow::rotationZ( double angle )
{
Eigen::MatrixXd _rotation(3,3);
_rotation << cos( angle ), -sin( angle ), 0.0,
sin( angle ), cos( angle ), 0.0,
0.0, 0.0, 1.0;
return _rotation;
}
static gboolean _key_release_event(GtkWidget *widget,
GdkEventKey *event,
gpointer data)
{
(void)widget;
(void)data;
//*
switch(event->keyval) {
case GDK_Left :
case GDK_Right :
case GDK_Up :
case GDK_Down :_scroll(event); break;
case GDK_equal :
case GDK_plus :
case GDK_minus :_rotation(event); break;
case GDK_Page_Down:
case GDK_Page_Up:_zoom(event); break;
// case GDK_KEY_Escape:_resetView(&_engine.state); break;
case GDK_r : //gtk_widget_draw(widget, NULL);
break;
// case GDK_KEY_h :_doRenderHelp = !_doRenderHelp;
// _usage("s52gtk2");
// break;
case GDK_v :g_print("%s\n", S52_version()); break;
case GDK_x :_dumpParam(); break;
case GDK_q :gtk_main_quit(); break;
case GDK_w :_toggle(S52_MAR_TWO_SHADES); break;
case GDK_s :_toggle(S52_MAR_SHALLOW_PATTERN); break;
case GDK_o :_toggle(S52_MAR_SHIPS_OUTLINE); break;
case GDK_l :_toggle(S52_MAR_FULL_SECTORS); break;
case GDK_b :_toggle(S52_MAR_SYMBOLIZED_BND); break;
case GDK_p :_toggle(S52_MAR_SYMPLIFIED_PNT); break;
case GDK_n :_toggle(S52_MAR_FONT_SOUNDG); break;
case GDK_u :_toggle(S52_MAR_SCAMIN); break;
case GDK_i :_toggle(S52_MAR_ANTIALIAS); break;
case GDK_j :_toggle(S52_MAR_QUAPNT01); break;
case GDK_z :_toggle(S52_MAR_DISP_OVERLAP); break;
//case GDK_1 :_toggle(S52_MAR_DISP_LAYER_LAST); break;
case GDK_1 :_meterInc(S52_MAR_DISP_LAYER_LAST);break;
case GDK_exclam:_meterDec(S52_MAR_DISP_LAYER_LAST);break;
case GDK_2 :_inc(S52_MAR_ROT_BUOY_LIGHT); break;
case GDK_3 :_toggle(S52_MAR_DISP_CRSR_POS);
_toggle(S52_MAR_DISP_LEGEND);
_toggle(S52_MAR_DISP_CALIB);
_toggle(S52_MAR_DISP_DRGARE_PATTERN);
break;
case GDK_4 :_toggle(S52_MAR_DISP_GRATICULE); break;
case GDK_5 :_toggle(S52_MAR_HEADNG_LINE); break;
//case GDK_t :_meterInc(S52_MAR_SHOW_TEXT); break;
//case GDK_T :_meterDec(S52_MAR_SHOW_TEXT); break;
case GDK_t :
case GDK_T :_toggle (S52_MAR_SHOW_TEXT); break;
case GDK_c :_meterInc(S52_MAR_SAFETY_CONTOUR); break;
case GDK_C :_meterDec(S52_MAR_SAFETY_CONTOUR); break;
case GDK_d :_meterInc(S52_MAR_SAFETY_DEPTH); break;
case GDK_D :_meterDec(S52_MAR_SAFETY_DEPTH); break;
case GDK_a :_meterInc(S52_MAR_SHALLOW_CONTOUR);break;
case GDK_A :_meterDec(S52_MAR_SHALLOW_CONTOUR);break;
case GDK_e :_meterInc(S52_MAR_DEEP_CONTOUR); break;
case GDK_E :_meterDec(S52_MAR_DEEP_CONTOUR); break;
case GDK_f :_meterInc(S52_MAR_DISTANCE_TAGS); break;
case GDK_F :_meterDec(S52_MAR_DISTANCE_TAGS); break;
case GDK_g :_meterInc(S52_MAR_TIME_TAGS); break;
case GDK_G :_meterDec(S52_MAR_TIME_TAGS); break;
case GDK_y :_meterInc(S52_MAR_BEAM_BRG_NM); break;
case GDK_Y :_meterDec(S52_MAR_BEAM_BRG_NM); break;
case GDK_m :_meterInc(S52_MAR_DATUM_OFFSET); break;
case GDK_M :_meterDec(S52_MAR_DATUM_OFFSET); break;
//case GDK_7 :_disp(S52_MAR_DISP_CATEGORY, 'D'); break; // DISPLAYBASE
//case GDK_8 :_disp(S52_MAR_DISP_CATEGORY, 'S'); break; // STANDARD
//case GDK_9 :_disp(S52_MAR_DISP_CATEGORY, 'O'); break; // OTHER
//case GDK_0 :_disp(S52_MAR_DISP_CATEGORY, 'A'); break; // OTHER (all)
//case GDK_7 :_disp(S52_MAR_DISP_CATEGORY, 0); break; // DISPLAYBASE
//case GDK_8 :_disp(S52_MAR_DISP_CATEGORY, 1); break; // STANDARD
//case GDK_9 :_disp(S52_MAR_DISP_CATEGORY, 2); break; // OTHER
//case GDK_0 :_disp(S52_MAR_DISP_CATEGORY, 3); break; // OTHER (all)
case GDK_7 :_disp(S52_MAR_DISP_CATEGORY, S52_MAR_DISP_CATEGORY_BASE); break; // DISPLAYBASE
case GDK_8 :_disp(S52_MAR_DISP_CATEGORY, S52_MAR_DISP_CATEGORY_STD); break; // STANDARD
case GDK_9 :_disp(S52_MAR_DISP_CATEGORY, S52_MAR_DISP_CATEGORY_OTHER); break; // OTHER
case GDK_0 :_disp(S52_MAR_DISP_CATEGORY, S52_MAR_DISP_CATEGORY_SELECT); break; // OTHER (all)
case GDK_k :_cpal(S52_MAR_COLOR_PALETTE, 1.0);break;
case GDK_K :_cpal(S52_MAR_COLOR_PALETTE, -1.0);break;
case GDK_6 :_meterInc(S52_MAR_DISP_WHOLIN); break;
case GDK_asciicircum:
case GDK_question:
case GDK_caret :_meterDec(S52_MAR_DISP_WHOLIN); break;
//case GDK_3 :_cpal("S52_MAR_COLOR_PALETTE", 2.0); break; // DAY_WHITEBACK
//case GDK_4 :_cpal("S52_MAR_COLOR_PALETTE", 3.0); break; // DUSK
//case GDK_5 :_cpal("S52_MAR_COLOR_PALETTE", 4.0); break; // NIGHT
//case GDK_F1 :S52_doneCell("/home/vitaly/CHARTS/for_sasha/GB5X01SE.000"); break;
//case GDK_F2 :S52_doneCell("/home/vitaly/CHARTS/for_sasha/GB5X01NE.000"); break;
case GDK_F1 :S52_setMarinerParam(S52_CMD_WRD_FILTER, S52_CMD_WRD_FILTER_SY); break;
case GDK_F2 :S52_setMarinerParam(S52_CMD_WRD_FILTER, S52_CMD_WRD_FILTER_LS); break;
case GDK_F3 :S52_setMarinerParam(S52_CMD_WRD_FILTER, S52_CMD_WRD_FILTER_LC); break;
case GDK_F4 :S52_setMarinerParam(S52_CMD_WRD_FILTER, S52_CMD_WRD_FILTER_AC); break;
case GDK_F5 :S52_setMarinerParam(S52_CMD_WRD_FILTER, S52_CMD_WRD_FILTER_AP); break;
case GDK_F6 :S52_setMarinerParam(S52_CMD_WRD_FILTER, S52_CMD_WRD_FILTER_TX); break;
case GDK_F7 :_mmInc(S52_MAR_DOTPITCH_MM_X); break;
case GDK_F8 :_mmInc(S52_MAR_DOTPITCH_MM_Y); break;
case GDK_F9 :_toggle(S52_MAR_DISP_NODATA_LAYER); break;
default:
g_print("key: 0x%04x\n", event->keyval);
}
//*/
// redraw
_engine.do_S52draw = TRUE;
return TRUE;
}
void Processor::Img_pro() {
_rotation();
imwrite("/storage/emulated/0/baidu/img.jpg",_img);
Mat gray;
cvtColor(_img, gray, CV_RGB2GRAY);
Mat bin;
adaptiveThreshold(gray, bin, 255, CV_ADAPTIVE_THRESH_GAUSSIAN_C, CV_THRESH_BINARY_INV, 101, 1);
imwrite("/storage/emulated/0/baidu/bin.jpg", bin);
std::vector<std::vector<cv::Point> > contours;
//des,contours,�ⲿ������������
findContours(bin, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
Mat des(_img.size(), CV_8UC1, Scalar(0));
for (int i = 0; i < contours.size(); i++) {
if (contourArea(contours[i]) < 350)
continue;
drawContours(des, contours, i, Scalar(255), -1);
}
imwrite("/storage/emulated/0/baidu/des.jpg", des);
Mat element = getStructuringElement(MORPH_RECT, Size(3,3));
dilate(des, des, element);
contours.clear();
findContours(des, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
for (int i = 0; i < contours.size(); i++) {
if (contourArea(contours[i]) < 350)
continue;
Mat sample(_img.size(), CV_8UC1, Scalar(0));
drawContours(sample, contours, i, Scalar(255), - 1);
Mat regionOfInterest;
Rect rec = boundingRect(contours[i]);
Sample_Elem tmp;
tmp.x_position = rec.x;
tmp.y_position = rec.y;
tmp.height = rec.height;
tmp.weight = rec.width;
if (rec.width < rec.height) {
rec.x -= (rec.height - rec.width) / 2;
if (rec.x < 0)
rec.x = 0;
if (rec.x + rec.height>sample.cols)
rec.width = sample.cols - rec.x;
else
rec.width = rec.height;
}
else{
rec.y -= (rec.width - rec.height) / 2;
if (rec.y < 0)
rec.y = 0;
if (rec.y + rec.width>sample.rows)
rec.height = sample.rows - rec.y;
else
rec.height = rec.width;
tmp.y_position = rec.y;
tmp.height = rec.width;
}
/* FILE* fp;
fp = fopen(".\\data\\sample_rect_data.txt", "a+");
if (fp == NULL) {
std::cout << "rect error";
return;
}
fprintf(fp, "%d,%d,%d,%d\n", rec.x, rec.y, rec.width, rec.height);
fclose(fp);
*/
regionOfInterest = sample(rec);
resize(regionOfInterest, regionOfInterest, Size(SAMPLE_SIZE, SAMPLE_SIZE));
tmp.img = regionOfInterest;
_Mat_contours.append(tmp);
}
}
Set<double> Cylindre::ensIntersect(const Ray &rayon) const {
Set<double> res;
double ox = rayon[0][0];
double oy = rayon[0][1];
double oz = rayon[0][2];
double dx = rayon[1][0];
double dy = rayon[1][1];
double dz = rayon[1][2];
double _a = _rotation(0, 0)*_rotation(0, 0) + _rotation(0, 1)*_rotation(0, 1);
double _b = _rotation(1, 0)*_rotation(1, 0) + _rotation(1, 1)*_rotation(1, 1);
double _c = _rotation(2, 0)*_rotation(2, 0) + _rotation(2, 1)*_rotation(2, 1);
double _d = 2*(_rotation(0, 0)*_rotation(1, 0) + _rotation(0, 1)*_rotation(1, 1));
double _e = 2*(_rotation(0, 0)*_rotation(2, 0) + _rotation(0, 1)*_rotation(2, 1));
double _f = 2*(_rotation(1, 0)*_rotation(2, 0) + _rotation(1, 1)*_rotation(2, 1));
double _g = 2*(_rotation(0, 0)*_translation[0] + _rotation(0, 1)*_translation[1]);
double _h = 2*(_rotation(1, 0)*_translation[0] + _rotation(1, 1)*_translation[1]);
double _i = 2*(_rotation(2, 0)*_translation[0] + _rotation(2, 0)*_translation[1]);
double _j = _translation[0]*_translation[0] + _translation[1]*_translation[1] -(_rayon * _rayon);
double alpha = _a*dx*dx + _b*dy*dy + _c*dz*dz
+ 2*_d*dx*dy + 2*_e*dx*dz + 2*_f*dy*dz;
double beta = 2*_a*ox*dx + 2*_b*oy*dy + 2*_c*oz*dz
+ 2*_d*(ox*dy + oy*dx) + 2*_e*(ox*dz + oz*dx) + 2*_f*(oy*dz + oz*dy)
+ _g*dx + _h*dy + _i*dz;
double gamma = _a*ox*ox + _b*oy*oy + _c*oz*oz
+ 2*_d*ox*oy + 2*_e*ox*oz + 2*_f*oy*oz
+ _g*ox + _h*oy + _i* oz
+ _j;
double delta = beta * beta - 4 * alpha * gamma;
delta = sqrt(delta);
if (delta == 0) {
res.add(-beta / (2 * alpha));
} else if (delta > 0) {
res.add((-beta - delta) / (2 * alpha));
res.add((-beta + delta) / (2 * alpha));
}
return res;
}
