bool Mda::write64(const char* path) const
{
if (QString(path).endsWith(".txt")) {
return d->write_to_text_file(path, ' ');
}
if (QString(path).endsWith(".csv")) {
return d->write_to_text_file(path, ',');
}
FILE* output_file = fopen(path, "wb");
if (!output_file) {
printf("Warning: Unable to open mda file for writing: %s\n", path);
return false;
}
MDAIO_HEADER H;
H.data_type = MDAIO_TYPE_FLOAT64;
H.num_bytes_per_entry = 4;
for (int i = 0; i < MDAIO_MAX_DIMS; i++)
H.dims[i] = 1;
for (int i = 0; i < MDA_MAX_DIMS; i++)
H.dims[i] = d->dims(i);
H.num_dims = d->determine_num_dims(N1(), N2(), N3(), N4(), N5(), N6());
mda_write_header(&H, output_file);
mda_write_float64((double*)d->constData(), &H, d->totalSize(), output_file);
d->incrementBytesWrittenCounter(d->totalSize() * H.num_bytes_per_entry);
fclose(output_file);
return true;
}
int main(){
TTableContext Context;
// create scheme
Schema AnimalS;
AnimalS.Add(TPair<TStr,TAttrType>("Animal", atStr));
AnimalS.Add(TPair<TStr,TAttrType>("Size", atStr));
AnimalS.Add(TPair<TStr,TAttrType>("Location", atStr));
AnimalS.Add(TPair<TStr,TAttrType>("Number", atInt));
TIntV RelevantCols;
RelevantCols.Add(0);
RelevantCols.Add(1);
RelevantCols.Add(2);
// create table
PTable T = TTable::LoadSS("Animals", AnimalS, "tests/animals.txt", Context, RelevantCols);
//PTable T = TTable::LoadSS("Animals", AnimalS, "animals.txt");
T->Unique("Animal");
TTable Ts = *T; // did we fix problem with copy-c'tor ?
//PTable Ts = TTable::LoadSS("Animals_s", AnimalS, "../../testfiles/animals.txt", RelevantCols);
//Ts->Unique(AnimalUnique);
// test Select
// create predicate tree: find all animals that are big and african or medium and Australian
TPredicate::TAtomicPredicate A1(atStr, true, EQ, "Location", "", 0, 0, "Africa");
TPredicate::TPredicateNode N1(A1); // Location == "Africa"
TPredicate::TAtomicPredicate A2(atStr, true, EQ, "Size", "", 0, 0, "big");
TPredicate::TPredicateNode N2(A2); // Size == "big"
TPredicate::TPredicateNode N3(AND);
N3.AddLeftChild(&N1);
N3.AddRightChild(&N2);
TPredicate::TAtomicPredicate A4(atStr, true, EQ, "Location", "", 0, 0, "Australia");
TPredicate::TPredicateNode N4(A4);
TPredicate::TAtomicPredicate A5(atStr, true, EQ, "Size", "", 0, 0, "medium");
TPredicate::TPredicateNode N5(A5);
TPredicate::TPredicateNode N6(AND);
N6.AddLeftChild(&N4);
N6.AddRightChild(&N5);
TPredicate::TPredicateNode N7(OR);
N7.AddLeftChild(&N3);
N7.AddRightChild(&N6);
TPredicate Pred(&N7);
TIntV SelectedRows;
Ts.Select(Pred, SelectedRows);
TStrV GroupBy;
GroupBy.Add("Location");
T->Group(GroupBy, "LocationGroup");
GroupBy.Add("Size");
T->Group(GroupBy, "LocationSizeGroup");
T->Count("LocationCount", "Location");
PTable Tj = T->Join("Location", Ts, "Location");
TStrV UniqueAnimals;
UniqueAnimals.Add("Animals_1.Animal");
UniqueAnimals.Add("Animals_2.Animal");
Tj->Unique(UniqueAnimals, false);
//print table
T->SaveSS("tests/animals_out_T.txt");
Ts.SaveSS("tests/animals_out_Ts.txt");
Tj->SaveSS("tests/animals_out_Tj.txt");
return 0;
}
double* Mda::dataPtr(bigint i1, bigint i2, bigint i3, bigint i4, bigint i5, bigint i6)
{
const bigint N12 = N1() * N2();
const bigint N13 = N12 * N3();
const bigint N14 = N13 * N4();
const bigint N15 = N14 * N5();
return d->data() + (i1 + N1() * i2 + N12 * i3 + N13 * i4 + N14 * i5 + N15 * i6);
}
bool Mda::reshape(bigint N1b, bigint N2b, bigint N3b, bigint N4b, bigint N5b, bigint N6b)
{
if (N1b * N2b * N3b * N4b * N5b * N6b != this->totalSize()) {
qWarning() << "Unable to reshape Mda, wrong total size";
qWarning() << N1b << N2b << N3b << N4b << N5b << N6b;
qWarning() << N1() << N2() << N3() << N4() << N5() << N6();
return false;
}
d->setDims(N1b, N2b, N3b, N4b, N5b, N6b);
return true;
}
void N3()
{
unsigned long dwReturnAddress;
printf("In N3()\n");
P_CODE_START
for(int i = 0; i < 5; i++)
printf("%d ", i);
printf("\nCalling N4()\n");
N4();
P_CODE_END
return;
}
int main() {
Nef_polyhedron N1(Nef_polyhedron::COMPLETE);
Line l(2,4,2); // l : 2x + 4y + 2 = 0
Nef_polyhedron N2(l,Nef_polyhedron::INCLUDED);
Nef_polyhedron N3 = N2.complement();
CGAL_assertion(N1 == N2.join(N3));
Point p1(0,0), p2(10,10), p3(-20,15);
Point triangle[3] = { p1, p2, p3 };
Nef_polyhedron N4(triangle, triangle+3);
Nef_polyhedron N5 = N2.intersection(N4);
CGAL_assertion(N5 <= N2 && N5 <= N4);
return 0;
}
int main() {
Nef_polyhedron N1(Plane_3( 1, 0, 0,-1),Nef_polyhedron::INCLUDED);
Nef_polyhedron N2(Plane_3(-1, 0, 0,-1),Nef_polyhedron::INCLUDED);
Nef_polyhedron N3(Plane_3( 0, 1, 0,-1),Nef_polyhedron::INCLUDED);
Nef_polyhedron N4(Plane_3( 0,-1, 0,-1),Nef_polyhedron::INCLUDED);
Nef_polyhedron N5(Plane_3( 0, 0, 1,-1),Nef_polyhedron::INCLUDED);
Nef_polyhedron N6(Plane_3( 0, 0,-1,-1),Nef_polyhedron::INCLUDED);
Nef_polyhedron I1(!N1+!N2);
Nef_polyhedron I2(N3-!N4);
Nef_polyhedron I3(N5^N6);
Nef_polyhedron Cube1(I2 *!I1);
Cube1 *= !I3;
Nef_polyhedron Cube2 = N1 * N2 * N3 * N4 * N5 * N6;
CGAL_assertion (Cube1 == Cube2);
return 0;
}
int main() {
Nef_polyhedron N1(Nef_polyhedron::COMPLETE);
Sphere_circle c(1,1,1); // c : x + y + z = 0
Nef_polyhedron N2(c, Nef_polyhedron::INCLUDED);
Nef_polyhedron N3(N2.complement());
CGAL_assertion(N1 == N2.join(N3));
Sphere_point p1(1,0,0), p2(0,1,0), p3(0,0,1);
Sphere_segment s1(p1,p2), s2(p2,p3), s3(p3,p1);
Sphere_segment triangle[3] = { s1, s2, s3 };
Nef_polyhedron N4(triangle, triangle+3);
Nef_polyhedron N5;
N5 += N2;
N5 = N5.intersection(N4);
CGAL_assertion(N5 <= N2 && N5 != N4);
return 0;
}
bool Mda::write16ui(const QString& path) const
{
FILE* output_file = fopen(path.toLatin1().data(), "wb");
if (!output_file) {
printf("Warning: Unable to open mda file for writing: %s\n", path.toLatin1().data());
return false;
}
MDAIO_HEADER H;
H.data_type = MDAIO_TYPE_UINT16;
H.num_bytes_per_entry = 2;
for (int i = 0; i < MDAIO_MAX_DIMS; i++)
H.dims[i] = 1;
for (int i = 0; i < MDA_MAX_DIMS; i++)
H.dims[i] = d->dims(i);
H.num_dims = d->determine_num_dims(N1(), N2(), N3(), N4(), N5(), N6());
mda_write_header(&H, output_file);
mda_write_float64((double*)d->constData(), &H, d->totalSize(), output_file);
d->incrementBytesWrittenCounter(d->totalSize() * H.num_bytes_per_entry);
fclose(output_file);
return true;
}
int main() {
Nef_polyhedron N0;
Nef_polyhedron N1(Nef_polyhedron::EMPTY);
Nef_polyhedron N2(Nef_polyhedron::COMPLETE);
Nef_polyhedron N3(Plane_3( 1, 2, 5,-1));
Nef_polyhedron N4(Plane_3( 1, 2, 5,-1), Nef_polyhedron::INCLUDED);
Nef_polyhedron N5(Plane_3( 1, 2, 5,-1), Nef_polyhedron::EXCLUDED);
CGAL_assertion(N0 == N1);
CGAL_assertion(N3 == N4);
CGAL_assertion(N0 != N2);
CGAL_assertion(N3 != N5);
CGAL_assertion(N4 >= N5);
CGAL_assertion(N5 <= N4);
CGAL_assertion(N4 > N5);
CGAL_assertion(N5 < N4);
N5 = N5.closure();
CGAL_assertion(N4 >= N5);
CGAL_assertion(N4 <= N5);
return 0;
}
int Mda::ndims() const
{
return d->determine_num_dims(N1(), N2(), N3(), N4(), N5(), N6());
}
void table(){
static GLboolean first = GL_TRUE;
static GLuint buffer, normalsBuffer, stripsBuffer, coordsBuffer;
static Image images[3];
static char *ppmNames[3] = {"glass.ppm", "table.ppm", "donut.ppm"};
if (first) {
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glGenTextures(3, texNames);
getppm(ppmNames[1], &images[1]);
GLfloat verts[4][3] = {
{3.0, 3.0, 0.0}, {-3.0, 3.0, 0.0}, {-3.0, -3.0, 0.0}, {3.0, -3.0, 0.0}
};
plane(verts[1], verts[2], verts[3]);
GLfloat normals[1][3];
normals[0][0] = N4(verts[0][0], verts[1][0], verts[2][0], verts[3][0]);
normals[0][1] = N4(verts[0][1], verts[1][1], verts[2][1], verts[3][1]);
normals[0][2] = N4(verts[0][2], verts[1][2], verts[2][2], verts[3][2]);
GLushort indices[4] = {0,1,2,3};
GLfloat texCoords[4][2] = {
{1,1},
{0,1},
{0,0},
{1,0}
};
glGenBuffers(1, &buffer);
glBindBuffer(GL_ARRAY_BUFFER, buffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(verts),
verts, GL_STATIC_DRAW);
glGenBuffers(1, &normalsBuffer);
glBindBuffer(GL_ARRAY_BUFFER, normalsBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(normals),
normals, GL_STATIC_DRAW);
glGenBuffers(1, &stripsBuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, stripsBuffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(indices),
indices, GL_STATIC_DRAW);
glGenBuffers(1, &coordsBuffer);
glBindBuffer(GL_ARRAY_BUFFER, coordsBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(texCoords),
texCoords, GL_STATIC_DRAW);
first = GL_FALSE;
}
glBindTexture(GL_TEXTURE_2D, texNames[1]);
glTexParameteri(GL_TEXTURE_2D,
GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D,
GL_TEXTURE_WRAP_T, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D,
GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D,
GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA,
images[1].lW, images[1].lH, 0,
GL_RGBA, GL_UNSIGNED_BYTE, images[1].rgba);
glEnable(GL_TEXTURE_2D);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
glTexEnvfv(GL_TEXTURE_ENV, GL_TEXTURE_ENV_COLOR, color);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glBindBuffer(GL_ARRAY_BUFFER, buffer);
glVertexPointer(3, GL_FLOAT, 0, (GLvoid*) 0);
glBindBuffer(GL_ARRAY_BUFFER, normalsBuffer);
glNormalPointer(GL_FLOAT, 0, (GLvoid*) 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, stripsBuffer);
glBindBuffer(GL_ARRAY_BUFFER, coordsBuffer);
glTexCoordPointer(2, GL_FLOAT, 0, (GLvoid*) 0);
for (int i = 0, offset = 0; i < 1;
i++, offset += 4*sizeof(GLushort))
glDrawElements(GL_QUADS, 4,
GL_UNSIGNED_SHORT, (GLvoid*) offset);
glDisable(GL_TEXTURE_2D);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
}
Matrix3x3d
computeIntersectionCovariance(vector<Matrix3x4d> const& projections,
vector<PointMeasurement> const& measurements,
double sigma)
{
Matrix<double> Cp(3, 3, 0.0);
Cp[0][0] = Cp[1][1] = sigma;
Cp[2][2] = 0.0;
int const N = measurements.size();
Matrix<double> A(2*N, 4, 0.0);
InlineMatrix<double, 2, 3> Sp;
makeZeroMatrix(Sp);
InlineMatrix<double, 2, 4> Sp_P;
for (int i = 0; i < N; ++i)
{
Sp[0][1] = -1; Sp[0][2] = measurements[i].pos[1];
Sp[1][0] = 1; Sp[1][2] = -measurements[i].pos[0];
int const view = measurements[i].view;
multiply_A_B(Sp, projections[view], Sp_P);
A[2*i+0][0] = Sp_P[0][0]; A[2*i+0][1] = Sp_P[0][1]; A[2*i+0][2] = Sp_P[0][2]; A[2*i+0][3] = Sp_P[0][3];
A[2*i+1][0] = Sp_P[1][0]; A[2*i+1][1] = Sp_P[1][1]; A[2*i+1][2] = Sp_P[1][2]; A[2*i+1][3] = Sp_P[1][3];
} // end for (i)
SVD<double> svd(A);
Matrix<double> V;
svd.getV(V);
Vector4d X;
X[0] = V[0][3]; X[1] = V[1][3]; X[2] = V[2][3]; X[3] = V[3][3];
Vector3d P;
Matrix<double> S(2, 3, 0.0);
Matrix<double> B(2*N, 3*N, 0.0);
for (int i = 0; i < N; ++i)
{
int const view = measurements[i].view;
multiply_A_v(projections[view], X, P);
P[0] /= P[2]; P[1] /= P[2]; P[2] = 1.0;
S[0][1] = -P[2]; S[0][2] = P[1];
S[1][0] = P[2]; S[1][2] = -P[0];
B[2*i+0][3*i+0] = -S[0][0]; B[2*i+0][3*i+1] = -S[0][1]; B[2*i+0][3*i+2] = S[0][2];
B[2*i+1][3*i+0] = -S[1][0]; B[2*i+1][3*i+1] = -S[1][1]; B[2*i+1][3*i+2] = S[1][2];
} // end for (i)
Matrix<double> C(3*N, 3*N, 0.0);
for (int i = 0; i < N; ++i)
{
C[3*i+0][3*i+0] = Cp[0][0]; C[3*i+0][3*i+1] = Cp[0][1]; C[3*i+0][3*i+2] = Cp[0][2];
C[3*i+1][3*i+0] = Cp[1][0]; C[3*i+1][3*i+1] = Cp[1][1]; C[3*i+1][3*i+2] = Cp[1][2];
C[3*i+2][3*i+0] = Cp[2][0]; C[3*i+2][3*i+1] = Cp[2][1]; C[3*i+2][3*i+2] = Cp[2][2];
} // end for (i)
Matrix<double> B_C(2*N, 3*N);
multiply_A_B(B, C, B_C);
Matrix<double> T(2*N, 2*N);
multiply_A_Bt(B_C, B, T);
Matrix<double> Tinv;
invertMatrix(T, Tinv);
Matrix<double> NN(5, 5), N4(4, 4);
Matrix<double> At_Tinv(4, 2*N);
multiply_At_B(A, Tinv, At_Tinv);
multiply_A_B(At_Tinv, A, N4);
for (int r = 0; r < 4; ++r)
for (int c = 0; c < 4; ++c)
NN[r][c] = N4[r][c];
NN[0][4] = NN[4][0] = X[0];
NN[1][4] = NN[4][1] = X[1];
NN[2][4] = NN[4][2] = X[2];
NN[3][4] = NN[4][3] = X[3];
NN[4][4] = 0.0;
Matrix<double> Ninv(5, 5);
invertMatrix(NN, Ninv);
Matrix4x4d sigma_XX;
for (int r = 0; r < 4; ++r)
for (int c = 0; c < 4; ++c)
sigma_XX[r][c] = Ninv[r][c];
Matrix3x4d Je;
makeZeroMatrix(Je);
Je[0][0] = Je[1][1] = Je[2][2] = 1.0 / X[3];
Je[0][3] = -X[0] / (X[3]*X[3]);
Je[1][3] = -X[1] / (X[3]*X[3]);
Je[2][3] = -X[2] / (X[3]*X[3]);
Matrix3x3d sigma_X = Je * sigma_XX * Je.transposed();
return sigma_X;
}