/*
* Reads a token from a given preprocessing context, expands it if macro, and
* returns it.
*/
static Token *expand_one(CppContext *ctx) {
Token *tok = read_cpp_token(ctx);
if (!tok) return NULL;
if (tok->toktype != TOKTYPE_IDENT)
return tok;
String *name = tok->val.str;
Macro *macro = dict_get(ctx->defs, name);
if (!macro)
return tok;
if (list_in(tok->hideset, name))
return tok;
switch (macro->type) {
case MACRO_OBJ: {
List *ts = subst(ctx, macro, make_list(), list_union1(tok->hideset, name));
pushback(ctx, ts);
return expand_one(ctx);
}
case MACRO_FUNC: {
List *args = read_args(ctx, macro);
Token *rparen = read_cpp_token(ctx);
List *hideset = list_union1(list_intersect(tok->hideset, rparen->hideset), name);
List *ts = subst(ctx, macro, args, hideset);
pushback(ctx, ts);
return expand_one(ctx);
}
case MACRO_SPECIAL:
macro->fn(ctx, tok);
return expand_one(ctx);
}
panic("should not reach here");
}
LIST *property_set_create( PARSE *parse, FRAME *frame )
{
LIST* properties = lol_get( frame->args, 0 );
LIST* sorted = 0;
LIST* order_sensitive = 0;
LIST* unique;
LIST* tmp;
LIST* val;
string var[1];
#if 0
/* Sort all properties which are not order sensitive */
for(tmp = properties; tmp; tmp = tmp->next) {
LIST* g = get_grist(tmp->string);
LIST* att = call_rule("feature.attributes", frame, g, 0);
if (list_in(att, "order-sensitive")) {
order_sensitive = list_new( order_sensitive, tmp->string);
} else {
sorted = list_new( sorted, tmp->string);
}
list_free(att);
}
sorted = list_sort(sorted);
sorted = list_append(sorted, order_sensitive);
unique = list_unique(sorted);
#endif
sorted = list_sort(properties);
unique = list_unique(sorted);
string_new(var);
string_append(var, ".ps.");
for(tmp = unique; tmp; tmp = tmp->next) {
string_append(var, tmp->string);
string_push_back(var, '-');
}
val = var_get(var->value);
if (val == 0)
{
val = call_rule("new", frame,
list_append(list_new(0, "property-set"), unique), 0);
var_set(newstr(var->value), list_copy(0, val), VAR_SET);
}
else
{
val = list_copy(0, val);
}
string_free(var);
/* The 'unique' variable is freed in 'call_rule'. */
list_free(sorted);
return val;
}
int list_is_sublist( LIST * sub, LIST * l )
{
LISTITER iter = list_begin( sub );
LISTITER const end = list_end( sub );
for ( ; iter != end; iter = list_next( iter ) )
if ( !list_in( l, list_item( iter ) ) )
return 0;
return 1;
}
/*
local result = ;
local element ;
for element in $(B)
{
if ! ( $(element) in $(A) )
{
result += $(element) ;
}
}
return $(result) ;
*/
LIST *set_difference( PARSE *parse, FRAME *frame )
{
LIST* b = lol_get( frame->args, 0 );
LIST* a = lol_get( frame->args, 1 );
LIST* result = 0;
for(; b; b = b->next)
{
if (!list_in(a, b->string))
result = list_new(result, b->string);
}
return result;
}
/*
local result = ;
local element ;
for element in $(B)
{
if ! ( $(element) in $(A) )
{
result += $(element) ;
}
}
return $(result) ;
*/
LIST *set_difference( FRAME *frame, int flags )
{
LIST* b = lol_get( frame->args, 0 );
LIST* a = lol_get( frame->args, 1 );
LIST* result = 0;
for(; b; b = b->next)
{
if (!list_in(a, b->value))
result = list_new(result, object_copy(b->value));
}
return result;
}
LIST *
compile_eval(
PARSE *parse,
LOL *args,
int *jmp )
{
LIST *ll, *lr, *t;
int status = 0;
/* Short circuit lr eval for &&, ||, and 'in' */
ll = (*parse->left->func)( parse->left, args, jmp );
lr = 0;
switch( parse->num )
{
case EXPR_AND:
case EXPR_IN: if( ll ) goto eval; break;
case EXPR_OR: if( !ll ) goto eval; break;
default: eval: lr = (*parse->right->func)( parse->right, args, jmp );
}
/* Now eval */
switch( parse->num )
{
case EXPR_NOT:
if( !ll ) status = 1;
break;
case EXPR_AND:
if( ll && lr ) status = 1;
break;
case EXPR_OR:
if( ll || lr ) status = 1;
break;
case EXPR_IN:
/* "a in b": make sure each of */
/* ll is equal to something in lr. */
status = list_in(ll, lr);
break;
case EXPR_EXISTS: if( lcmp( ll, L0 ) != 0 ) status = 1; break;
case EXPR_EQUALS: if( lcmp( ll, lr ) == 0 ) status = 1; break;
case EXPR_NOTEQ: if( lcmp( ll, lr ) != 0 ) status = 1; break;
case EXPR_LESS: if( lcmp( ll, lr ) < 0 ) status = 1; break;
case EXPR_LESSEQ: if( lcmp( ll, lr ) <= 0 ) status = 1; break;
case EXPR_MORE: if( lcmp( ll, lr ) > 0 ) status = 1; break;
case EXPR_MOREEQ: if( lcmp( ll, lr ) >= 0 ) status = 1; break;
}
if( DEBUG_IF )
{
debug_compile( 0, "if" );
list_print( ll );
printf( "(%d) ", status );
list_print( lr );
printf( "\n" );
}
/* Find something to return. */
/* In odd circumstances (like "" = "") */
/* we'll have to return a new string. */
if( !status ) t = 0;
else if( ll ) t = ll, ll = 0;
else if( lr ) t = lr, lr = 0;
else t = list_append( L0, "1", 0 );
if( ll ) list_free( ll );
if( lr ) list_free( lr );
return t;
}
void LoadBundlerMap(const string& structure_file, const string& image_list_file, Map& map) {
CHECK_PRED1(fs::exists, structure_file);
CHECK_PRED1(fs::exists, image_list_file);
// Get the base path to help find images
fs::path basedir = fs::path(image_list_file).parent_path();
// Read list of images
sifstream list_in(image_list_file);
vector<fs::path> image_paths;
int nonexistent = 0;
while (true) {
string image_file;
getline(list_in, image_file);
if (list_in.eof()) break;
fs::path path = basedir / image_file;
if (!fs::exists(path)) {
DLOG << "WARNING: image file not found: " << path;
}
image_paths.push_back(path);
}
// Load structure
sifstream in(structure_file);
// Ignore comment
string comment;
getline(in, comment);
// Load number of cameras and points
int num_cameras, num_points;
in >> num_cameras >> num_points;
CHECK(num_cameras > 0);
CHECK_EQ(image_paths.size(), num_cameras)
<< "Number of cameras should equal number of image files in "
<< image_list_file;
// Load poses
bool warned_focal = false;
bool warned_distortion = false;
double focal_length;
double f;
Mat3 R;
Vec3 t;
Vec2 distortion;
for (int i = 0; i < num_cameras; i++) {
in >> f >> distortion >> R >> t;
if (distortion != makeVector(0,0) && !warned_distortion) {
DLOG << "WARNING: Distorted cameras not supported yet, "
<< "loading map anyway";
warned_distortion = true;
}
if (i == 0) {
focal_length = f;
// Construct a linear camera
Mat3 cam = Identity;
cam[0][0] = cam[1][1] = focal_length;
map.camera.reset(new LinearCamera(cam, *gvDefaultImageSize));
} else {
if (f != focal_length && !warned_focal) {
DLOG << "WARNING: Multiple focal lengths not supported yet, "
"loading map anyway";
warned_focal = true;
}
}
// Bundler considers cameras looking down the negative Z axis so
// invert (this only really matters for visualizations and
// visibility testing).
SE3<> pose(SO3<>(-R), -t);
string image_file = i < image_paths.size() ? image_paths[i].string() : "";
map.AddFrame(new Frame(i, image_file, pose));
}
// Load points
// TODO: store observations
Vec3 v, color;
Vec2 obs_pt;
int num_obs, obs_camera, obs_key;
for (int i = 0; i < num_points; i++) {
in >> v >> color >> num_obs;
for (int j = 0; j < num_obs; j++) {
in >> obs_camera >> obs_key >> obs_pt;
}
map.points.push_back(v);
}
}
//============================================================================
// add_to_set
//============================================================================
int set_add(set_t *set, uint64_t val)
{
int index = list_in(set, val);
if (index >= 0) return index;
return list_append(set, val);
}
//============================================================================
// set_in
//============================================================================
int set_in(set_t *set, uint64_t val)
{
return list_in(set, val);
}
