void Main::cmdReceivedCB(const std_msgs::CharConstPtr & cmd)
{
switch (cmd->data)
{
case 'b':
clearBackground();
break;
case 'c':
stopTracking();
break;
case 'l':
toggleLearning();
break;
case 'a':
alternatingMode();
break;
case 'e':
exportModel();
break;
case 'i':
importModel();
break;
case 'r':
reset();
break;
case 'v':
sendCenterView();
break;
default:
break;
}
}
//void Main::cmdReceivedCB(const std_msgs::CharConstPtr & cmd)
void Main::cmdReceivedCB(const std_msgs::StringConstPtr & cmd)
{
char cd=cmd->data.c_str()[0];
//switch (cmd->data)
switch (cd)
{
case 'b':
clearBackground();
break;
case 'c':
stopTracking();
break;
case 'l':
toggleLearning();
break;
case 'a':
alternatingMode();
break;
case 'e':
exportModel();
break;
case 'i':
importModel();
break;
case 'r':
reset();
break;
default:
break;
}
}
bool Obj::loadFromFile(FILE *f)
{
fp = f;
if (importModel(&OBJModel) == false) { error("OBJ file not loaded"); return false; }
if (importTextures() == false) warning("textures of OBJ file not loaded");
return loaded = true; //success
}
void AELoadedResourcesTreeView::createActions()
{
_importModelAct = new QAction(tr("Import &model"), _contextMenu);
_importModelAct->setStatusTip(tr("Import a new model into the resources"));
connect(_importModelAct, SIGNAL(triggered()), this, SLOT(importModel()));
_importTextureAct = new QAction(tr("Import &texture"), _contextMenu);
_importTextureAct->setStatusTip(tr("Import a new texture into the resources"));
connect(_importTextureAct, SIGNAL(triggered()), this, SLOT(importTexture()));
_addNewMaterialAct = new QAction(tr("Add new m&aterial"), _contextMenu);
_addNewMaterialAct->setStatusTip(tr("Add a new material to the resources"));
connect(_addNewMaterialAct, SIGNAL(triggered()), this, SLOT(addNewMaterial()));
_createModelInstanceAct = new QAction(tr("Create instance"), _contextMenu);
_createModelInstanceAct->setStatusTip(tr("Creates a new instance of the selected model"));
connect(_createModelInstanceAct, SIGNAL(triggered()), this, SLOT(createModelInstance()));
}
/*
* \brief Constructor of the model class. Import the model and the three textures and prepare the buffers.
* \param[in] name a string containing the name of the model
* \param[in] fModele a const character array containing the path of the file of the model
* \param[in] fTex a const character array containing the path of the file of the diffuse color texture
* \param[in] fNormalmap a const character array containing the path of the file of the normalmap texture
* \param[in] fSpecularmap a const character array containing the path of the file of the specular color texture
* \return A well initialized model respecting the parameters
*/
Model::Model(std::string name, const GLchar * fModele, const GLchar * fTex, const GLchar * fNormalmap, const char * fSpecularmap) : Object()
{
m_name = name;
m_texture_id.push_back(0);
m_texture_id.push_back(0);
m_texture_id.push_back(0);
glGenTextures(3, &m_texture_id[0]);
if (!importModel(fModele))
{
throw ModelImportException();
}
if (!importTexture(fTex, 0))
{
throw TextureImportException();
}
if (!importTexture(fNormalmap, 1))
{
throw NormalmapImportException();
}
if (!importTexture(fSpecularmap, 2))
{
throw SpecularmapImportException();
}
computeTangentSpace();
indexBuffers();
glBindBuffer(GL_ARRAY_BUFFER, m_buffer_id[0]);
glBufferData(GL_ARRAY_BUFFER, m_vertices.size() * sizeof(glm::vec3), &m_vertices[0], GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, m_buffer_id[1]);
glBufferData(GL_ARRAY_BUFFER, m_uvs.size() * sizeof(glm::vec2), &m_uvs[0], GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, m_buffer_id[2]);
glBufferData(GL_ARRAY_BUFFER, m_normals.size() * sizeof(glm::vec3), &m_normals[0], GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, m_buffer_id[3]);
glBufferData(GL_ARRAY_BUFFER, m_tangents.size() * sizeof(glm::vec3), &m_tangents[0], GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, m_buffer_id[4]);
glBufferData(GL_ARRAY_BUFFER, m_bitangents.size() * sizeof(glm::vec3), &m_bitangents[0], GL_STATIC_DRAW);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_buffer_id[5]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_indexes.size() * sizeof(GLushort), &m_indexes[0], GL_STATIC_DRAW);
}
int main(int argc, char* argv[]){
int c, i;
char *inputImageFile = NULL;
char *inputLabelFile = NULL;
char *inputModel = "noname.model";
char *outputResult = "result.txt";
while( (c=getopt(argc, argv, "i:y:m:o:h")) != -1 ){
switch(c)
{
case 'h':
printf("usage: \n-i input image file\n-m inputModel\n-o outputResult\n-y (optional)input label file\n\tif provided, it calculate accuracy immediately.\n");
break;
case 'i':
inputImageFile = optarg;
break;
case 'y':
inputLabelFile = optarg;
break;
case 'm':
inputModel = optarg;
break;
case 'o':
outputResult = optarg;
break;
case '?':
printf("Illegal option\n");
printf("usage: \n-i input image file\n-m inputModel\n-o outputResult\n-y (optional)input label file\n\tif provided, it calculate accuracy immediately.\n");
exit(1);
break;
default:
printf("usage: \n-i input image file\n-m inputModel\n-o outputResult\n-y (optional)input label file\n\tif provided, it calculate accuracy immediately.\n");
exit(1);
break;
}
}
int test_num ;
double **test_x = mnist_load_data(inputImageFile, &test_num);
int dim = 28 * 28; // supposed data dimension
// normalization parameters
double* mean = (double*) malloc( dim * sizeof(double));
double* sigma = (double*) malloc( dim * sizeof(double));
// load from model
NN* mm = importModel(mean, sigma, inputModel);
normalize_zscore_apply(test_x, test_num, mean, sigma, dim);
if(inputLabelFile != NULL){
double **test_y = mnist_load_labels(inputLabelFile, &test_num);
double errorRate = nneval(mm, test_num, (const double**)test_x, (const double**) test_y);
printf("Error rate=%f\n", errorRate);
}
// write result
FILE* fp = fopen(outputResult, "w");
for(i=0; i< test_num; i++){
fprintf(fp, "%d\n", nnpredict(mm, i, (const double**)test_x) );
}
fclose(fp);
return 0;
}
/*!
slot for opening the contextmenu
*/
void Item_node::contextmenu(const QPoint& point){
context = this;
if(!menuinit){
DQMENU(Item_node, menu);
menu->addAction( QIcon(":/images/xpm/armature.xpm"), QString("Add Armature") , this, SLOT( addArmature()));
menu->addSeparator();
menu->addAction( QIcon( ":/images/xpm/importer.xpm"), QString("Import Model"), this, SLOT(importModel()) );
menu->addSeparator();
SCRIPT2MENU(menu);
menu->addSeparator();
menu->addAction( QIcon( ":/images/xpm/del.xpm"), QString("Delete") , this, SLOT( deleteLater()));
menuinit = true;
}
menu->popup( point );
}
