void FeatureEval::difference_of_normals(){
boost::shared_ptr<PointCloud> _cloud = core_->cl_->active_;
if(_cloud == nullptr)
return;
int w = _cloud->scan_width();
int h = _cloud->scan_height();
pcl::PointCloud<pcl::Normal>::Ptr normals = ne_->getNormals(_cloud);
float res1 = subsample_res_;
float res2 = subsample_res_2_;
// Downsample
pcl::PointCloud<pcl::PointXYZINormal>::Ptr smaller_cloud;
std::vector<int> sub_idxs;
smaller_cloud = downsample(_cloud, res1, sub_idxs);
t_.start();
pcl::PointCloud<pcl::Normal>::Ptr donormals = don(*smaller_cloud, *smaller_cloud, res1, res2);
(time_ = t_.elapsed());
// Correlate
computeCorrelation(reinterpret_cast<float*>(donormals->points.data()), 3, donormals->points.size(), sub_idxs, 4);
if(!visualise_on_) return;
// Draw
pcl::PointCloud<pcl::Normal> big_donormals;
map_small_to_big((*donormals).points, big_donormals.points, sub_idxs);
const std::vector<int> & cloudtogrid = _cloud->cloudToGridMap();
boost::shared_ptr<std::vector<Eigen::Vector3f> > grid = boost::make_shared<std::vector<Eigen::Vector3f> >(w*h, Eigen::Vector3f(0.0f, 0.0f, 0.0f));
for(uint i = 0; i < normals->size(); i++){
int grid_idx = cloudtogrid[i];
(*grid)[grid_idx] = big_donormals[i].getNormalVector3fMap();
}
// Draw
drawVector3f(grid, _cloud);
}
//constructor:
shMonster::shMonster (shMonId id, int extralevels /* = 0 */ )
:shCreature ()
{
int do_or = 0;
int do_and = 0;
int gotweapon = 0;
shMonsterIlk *ilk = &MonIlks[id];
mIlkId = id;
mType = ilk->mType;
strncpy (mName, ilk->mName, 30);
mCLevel = ilk->mBaseLevel;
mNaturalArmorBonus = ilk->mNaturalArmorBonus;
mReflexSaveBonus = 0;
mDir = kNoDirection;
mTame = 0;
mStrategy = ilk->mDefaultStrategy;
mDisposition = ilk->mDefaultDisposition;
mTactic = kReady;
mDestX = -1;
mEnemyX = -1;
mPlannedMoveIndex = -1;
mSpellTimer = 0;
memcpy (mInnateResistances, ilk->mInnateResistances,
sizeof (mInnateResistances));
mInnateIntrinsics = ilk->mInnateIntrinsics;
for (int i = 0; i < ilk->mNumPowers; ++i)
if (ilk->mPowers[i] == kTelepathyPower)
mInnateIntrinsics |= kTelepathy; /* Assume always on. */
mFeats = ilk->mFeats;
#define IMMUNE 122
switch (mType) {
case kMutant:
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kMagnetic] = IMMUNE;
break;
case kHumanoid:
mInnateResistances[kMagnetic] = IMMUNE;
break;
case kAnimal:
mInnateResistances[kMagnetic] = IMMUNE;
mInnateIntrinsics |= kScent;
break;
case kInsect:
mInnateResistances[kMagnetic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateIntrinsics |= kScent;
break;
case kOutsider:
mInnateResistances[kMagnetic] = IMMUNE;
break;
case kBot:
mInnateResistances[kToxic] = IMMUNE;
mInnateResistances[kPsychic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kViolating] = IMMUNE;
mInnateResistances[kMesmerizing] = IMMUNE;
mInnateResistances[kBlinding] = IMMUNE;
mInnateIntrinsics |= kBreathless;
break;
case kDroid:
mInnateResistances[kToxic] = IMMUNE;
mInnateResistances[kPsychic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kViolating] = IMMUNE;
mInnateResistances[kMesmerizing] = IMMUNE;
mInnateResistances[kBlinding] = IMMUNE;
mInnateIntrinsics |= kBreathless;
break;
case kProgram:
mInnateResistances[kToxic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kViolating] = IMMUNE;
/* Processes can be put to sleep so no kMesmerizing immunity. */
mInnateIntrinsics |= kBreathless;
break;
case kConstruct:
mInnateResistances[kToxic] = IMMUNE;
mInnateResistances[kPsychic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kStunning] = IMMUNE;
mInnateResistances[kConfusing] = IMMUNE;
mInnateResistances[kViolating] = IMMUNE;
mInnateResistances[kParalyzing] = IMMUNE;
mInnateResistances[kMesmerizing] = IMMUNE;
mInnateResistances[kBlinding] = IMMUNE;
mInnateIntrinsics |= kBreathless;
break;
case kOoze:
mInnateResistances[kToxic] = 3;
mInnateResistances[kMagnetic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kViolating] = IMMUNE;
mInnateResistances[kWebbing] = IMMUNE;
mInnateIntrinsics |= kBreathless;
break;
case kAberration:
mInnateResistances[kMagnetic] = IMMUNE;
mInnateResistances[kRadiological] = IMMUNE;
mInnateResistances[kViolating] = IMMUNE;
break;
case kCyborg:
mInnateResistances[kToxic] = 2;
mInnateResistances[kRadiological] = 10;
mInnateIntrinsics |= kBreathless;
break;
case kEgg:
mInnateResistances[kViolating] = IMMUNE;
mInnateIntrinsics |= kBreathless;
/* fall through */
case kBeast:
mInnateResistances[kMagnetic] = IMMUNE;
mInnateIntrinsics |= kScent;
break;
case kVermin:
mInnateResistances[kMagnetic] = IMMUNE;
mInnateIntrinsics |= kScent;
mInnateIntrinsics |= kCanSwim;
break;
case kAlien:
mAlienEgg.mHatchChance = 0;
mInnateResistances[kMagnetic] = IMMUNE;
mInnateResistances[kRadiological] = 10;
mInnateResistances[kCorrosive] = IMMUNE;
mInnateIntrinsics |= kScent;
if (!isA (kMonAlienQueen)) /* Too heavy and bloated. */
mInnateIntrinsics |= kJumpy;
gainRank (kUnarmedCombat, mCLevel/2);
break;
default:
debug.log ("Alert! Unknown monster type");
mInnateResistances[kMagnetic] = IMMUNE;
}
#undef IMMUNE
if (3 == ilk->mGender) {
mGender = RNG (1, 2);
} else {
mGender = ilk->mGender;
}
/* roll ability scores */
rollAbilityScores (ilk->mStr, ilk->mCon, ilk->mAgi,
ilk->mDex, ilk->mInt, ilk->mPsi);
/* roll hit points */
rollHitPoints (ilk->mHitDice, 8);
/* setup speed */
mSpeed = ilk->mSpeed;
computeAC ();
mGlyph = ilk->mGlyph;
if (isA (kMonMutantNinjaTurtle))
mGlyph.mTileX += RNG (4); /* Got four of those. */
mState = kActing;
if (equipment[id].mPtr) /* Does monster get standard equipment? */
for (int i = 0; i < equipment[id].mCnt; ++i) {
const char *str = equipment[id].mPtr[i];
if ('|' == str[0]) { /* the or symbol indicates don't try to create
the object unless the previous obj failed */
if (0 == do_or) {
do_or = 1;
do_and = 0;
continue;
} else {
++str;
}
} else if (',' == str[0]) { /* the comma symbol indicates create the
object only if the prev obj was made */
if (1 == do_and) {
++str;
} else {
continue;
}
}
shObject *obj = createObject (str, 0);
if (NULL == obj) {
do_or = 1;
do_and = 0;
debug.log ("unable to equip %s", str);
continue;
}
do_or = 0;
do_and = 1;
addObjectToInventory (obj);
if (!mWeapon and obj->isA (kWeapon)) {
if (obj->myIlk ()->mMeleeSkill != kNoSkillCode) {
gainRank (obj->myIlk ()->mMeleeSkill, 1 + mCLevel * 2/3);
}
if (obj->myIlk ()->mGunSkill != kNoSkillCode) {
gainRank (obj->myIlk ()->mGunSkill, 1 + mCLevel * 2/3);
}
++gotweapon;
/* don't wield until hero is in sight so he can see message */
//wield (obj, 1);
} else if (obj->isA (kArmor) or obj->isA (kImplant)) {
don (obj, 1);
}
}
if (!gotweapon) {
gainRank (kUnarmedCombat, 1 + mCLevel);
}
/* Maybe monster gets some more treasure. */
if (noTreasure () or
kAnimal == mType or kBeast == mType or kAberration == mType or
kInsect == mType or kVermin == mType or kOutsider == mType or
kEgg == mType or kOoze == mType or kAlien == mType or
kBot == mType or kConstruct == mType)
{ /* No treasure requested or a monster does not want treasure. */
} else {
if (RNG (50) <= 5 + mCLevel) {
shObject *cash = new shObject (kObjMoney);
cash->mCount = NDX (mCLevel + 1, 10);
addObjectToInventory (cash);
}
if (RNG (80) <= 5 + mCLevel) {
shObject *obj = generateObject (-1);
while (obj->getMass () > 5000) {
delete obj;
obj = generateObject (-1);
}
addObjectToInventory (obj);
}
}
computeIntrinsics ();
if (RNG (100) < ilk->mPeacefulChance) {
mDisposition = kIndifferent;
}
debug.log ("spawned %s with %d HP speed %d", mName, mHP, mSpeed);
}
