void MidpointDisplacement::generate( std::vector<Point> &points, int roughness, int npoints ) {
if ( npoints < 0 )
return;
for ( unsigned int i = 1; i < points.size(); i += 2 ) {
Point pMid = middle( points.at( i ), points.at( i - 1 ) );
Point pDis = displace( pMid, roughness );
points.insert( points.begin() + i, pDis );
npoints--;
}
generate( points, roughness / 2, npoints );
}
UnicodeString &
FilteredNormalizer2::normalizeSecondAndAppend(UnicodeString &first,
const UnicodeString &second,
UBool doNormalize,
UErrorCode &errorCode) const {
uprv_checkCanGetBuffer(first, errorCode);
uprv_checkCanGetBuffer(second, errorCode);
if(U_FAILURE(errorCode)) {
return first;
}
if(&first==&second) {
errorCode=U_ILLEGAL_ARGUMENT_ERROR;
return first;
}
if(first.isEmpty()) {
if(doNormalize) {
return normalize(second, first, errorCode);
} else {
return first=second;
}
}
// merge the in-filter suffix of the first string with the in-filter prefix of the second
int32_t prefixLimit=set.span(second, 0, USET_SPAN_SIMPLE);
if(prefixLimit!=0) {
UnicodeString prefix(second.tempSubString(0, prefixLimit));
int32_t suffixStart=set.spanBack(first, INT32_MAX, USET_SPAN_SIMPLE);
if(suffixStart==0) {
if(doNormalize) {
norm2.normalizeSecondAndAppend(first, prefix, errorCode);
} else {
norm2.append(first, prefix, errorCode);
}
} else {
UnicodeString middle(first, suffixStart, INT32_MAX);
if(doNormalize) {
norm2.normalizeSecondAndAppend(middle, prefix, errorCode);
} else {
norm2.append(middle, prefix, errorCode);
}
first.replace(suffixStart, INT32_MAX, middle);
}
}
if(prefixLimit<second.length()) {
UnicodeString rest(second.tempSubString(prefixLimit, INT32_MAX));
if(doNormalize) {
normalize(rest, first, USET_SPAN_NOT_CONTAINED, errorCode);
} else {
first.append(rest);
}
}
return first;
}
bool isPalindrome(char word[], int length) {
printWord(word, length);
if (length == 0 || length == 1) {
return true;
} else {
if (firstChar(word) != lastChar(word, length)) {
return false;
} else {
return isPalindrome(middle(word), length - 2);
}
}
}
void CHeightmap::test() {
float maxDistance = sqrt(this->width * this->width + this->height * this->height) * 0.3f;
vector2f middle (this->width * 0.5, this->height * 0.5);
for (unsigned int x = 0 ; x < this->values.size() ; x++) {
for (unsigned int y = 0 ; y < this->values[x].size() ; y++) {
vector2f toMiddle (middle[0] - x, middle[1] - y);
this->setValue(x, y, pow(1.0f - min(1.0f, toMiddle.length() / maxDistance), 4));
}
}
}
void
QcMapGestureArea::start_two_touch_points()
{
// qInfo();
m_start_position1 = first_point().pos();
m_start_position2 = second_point().pos();
QcVectorDouble start_position = middle(m_start_position1, m_start_position2);
// Fixme: duplicated code, excepted middle
m_last_position_for_velocity = start_position;
m_last_position_for_velocity_time.start();
QcWgsCoordinate start_coordinate = m_map->to_coordinate(start_position, false);
m_start_coordinate.set_longitude(start_coordinate.longitude() + m_start_coordinate.longitude() - m_touch_center_coordinate.longitude());
m_start_coordinate.set_latitude(start_coordinate.latitude() + m_start_coordinate.latitude() - m_touch_center_coordinate.latitude());
}
void Line::alignWithVec(Matrix<double> vec)
{
Matrix<double> new_vec = vecNormalize(vec)*vecLength(p_position_b-p_position_a);
Matrix<double> middle(3, 1);
middle[0] = p_position_a[0] + 0.5 * (p_position_b[0] - p_position_a[0]);
middle[1] = p_position_a[1] + 0.5 * (p_position_b[1] - p_position_a[1]);
middle[2] = p_position_a[2] + 0.5 * (p_position_b[2] - p_position_a[2]);
p_position_a = middle - 0.5*new_vec;
p_position_b = middle + 0.5*new_vec;
computePrism();
computeVertices();
}
int palindrome(NODEPTR head) {
if(head == NULL) {
printf("List empty!\n");
return 0;
}
NODEPTR mid = middle(head);
mid = reverse(head);
NODEPTR curr = head;
while(mid != NULL && curr != NULL) {
if(mid -> data != curr -> data)
return 0;
mid = mid -> next;
curr = curr -> next;
}
return 1;
}
void Auto_Score::trigger()
{
if (Position == 1)
{
middle();
}
else if (Position == 2)
{
right();
}
else if (Position == 3)
{
left();
}
}
void
QcMapGestureArea::update_two_touch_points()
{
// qInfo();
QcVectorDouble p1 = first_point().pos();
QcVectorDouble p2 = second_point().pos();
QcVectorDouble delta = p2 - p1;
m_distance_between_touch_points = delta.magnitude();
m_current_position = middle(p1, p2);
update_velocity_list(m_current_position);
m_two_touch_angle = delta.orientation();
// Fixme: required ?
if (m_two_touch_angle > 180)
m_two_touch_angle -= 360;
}
void mergesort(struct node ** head)
{
if( (*head) == NULL || (*head)->next == NULL )
return ;
else
{
struct node * temp;
temp = middle(*head);
struct node * mid = temp->next;
temp->next = NULL;
mergesort(head);
mergesort(&mid);
*head = merge(*head,mid);
}
}
int binsrc(std::vector<int> &vec, int key, int min, int max) {
if(max < min) {
// key not found
return -1;
} else {
int mid = middle(min, max);
if(vec[mid] > key) {
return binsrc(vec, key, min, mid - 1);
} else if(vec[mid] < key) {
return binsrc(vec, key, mid + 1, max);
} else {
// key found, index will be returned
return mid;
}
}
}
void Chapter2Test::Test2_3() {
ofstream fout;
OpenLogFile(fout,"test2_3.html","Problem 2.3: delete the node in the middle of the list, given only access to that node");
ListNode *head(nullptr);
ListNode *middle(nullptr);
ListNode *expected(nullptr);
stringstream ss;
ListNode::GenerateListNode({}, 0, head);
ListNode::GenerateListNode({}, 0, expected);
ListNode::PrintListNode(head, ss);
middle = nullptr;
sol.prob2_3(middle);
TestLinkedList(fout, ss.str(), head, expected);
ss.str("");
int A0[] = {1};
ListNode::GenerateListNode(A0,1, head);
ListNode::GenerateListNode({}, 0, expected);
ListNode::PrintListNode(head, ss);
middle = head;
sol.prob2_3(middle);
TestLinkedList(fout, ss.str(), head, expected);
ss.str("");
int A1[] = {1,2,3}, B1[] = {1,3};
ListNode::GenerateListNode(A1, sizeof(A1)/sizeof(A1[0]), head);
ListNode::GenerateListNode(B1, sizeof(B1)/sizeof(B1[0]), expected);
ListNode::PrintListNode(head, ss);
middle = head->next;
sol.prob2_3(middle);
TestLinkedList(fout, ss.str(), head, expected);
ss.str("");
int A2[] = {1,2,3,4,5}, B2[] = {1,2,4,5};
ListNode::GenerateListNode(A2, sizeof(A2)/sizeof(A2[0]), head);
ListNode::GenerateListNode(B2, sizeof(B2)/sizeof(B2[0]), expected);
ListNode::PrintListNode(head, ss);
middle = head->next->next;
sol.prob2_3(middle);
TestLinkedList(fout, ss.str(), head, expected);
CloseLogFile(fout);
}
void
QcMapGestureArea::end_pinch()
{
// qInfo();
QcVectorDouble p1 = m_pinch.m_last_point1;
QcVectorDouble p2 = m_pinch.m_last_point2;
m_pinch.m_event.set_angle(m_pinch.m_last_angle);
m_pinch.m_event.set_center(middle(p1, p2));
m_pinch.m_event.set_number_of_points(0);
m_pinch.m_event.set_point1(p1);
m_pinch.m_event.set_point2(p2);
m_pinch.m_event.set_accepted(true);
emit pinch_finished(&m_pinch.m_event);
m_pinch.m_start_distance = 0;
}
void WorldInHandNavigation::rotateBegin(const glm::ivec2 & mouse)
{
if (NoInteraction != m_mode)
return;
m_mode = RotateInteraction;
bool intersects = false;
glm::ivec2 middle(m_viewportCapability.width()/2, m_viewportCapability.height()/2);
m_referencePosition = mouseRayPlaneIntersection(intersects, middle);
const float depth = m_coordProvider.depthAt(middle);
m_refPositionValid = intersects && DepthExtractor::isValidDepth(depth);
m_m0 = mouse;
m_eye = m_cameraCapability.eye();
m_center = m_cameraCapability.center();
}
void Line::setCenter(Matrix<double> pos)
{
Matrix<double> middle(3, 1);
middle[0] = p_position_a[0] + 0.5 * (p_position_b[0] - p_position_a[0]);
middle[1] = p_position_a[1] + 0.5 * (p_position_b[1] - p_position_a[1]);
middle[2] = p_position_a[2] + 0.5 * (p_position_b[2] - p_position_a[2]);
Matrix<double> translation(3, 1);
translation[0] = - middle[0] + pos[0];
translation[1] = - middle[1] + pos[1];
translation[2] = - middle[2] + pos[2];
translation.print(4);
p_position_a += translation;
p_position_b += translation;
computePrism();
computeVertices();
}
scalar stokesFifthProperties::waveNumber()
{
scalar lower(1.0e-7);
scalar upper = Foam::max
(
4.0*PI_/( period_*Foam::sqrt( Foam::mag(G_)*depth_)),
2.0*PI_/( Foam::pow( period_, 2.0))
);
scalar middle(0.5*(lower + upper) );
scalar valLower( eval( lower ) ),
valUpper( eval( upper ) ),
valMiddle( eval( middle ) );
while (true)
{
if (Foam::sign( valLower ) == Foam::sign( valMiddle ))
{
lower = middle;
valLower = valMiddle;
}
else
{
upper = middle;
valUpper = valMiddle;
}
middle = 0.5*( lower + upper );
valMiddle = eval(middle);
if (Foam::mag(valMiddle) < 1.0e-13)
{
break;
}
}
return middle;
}
point3d get_intersection(point3d topfrontleft, point3d backbottomright, point3d source)
{
//find the middle
point3d middle(topfrontleft.x/2+backbottomright.x/2,
topfrontleft.y/2+backbottomright.y/2,
topfrontleft.z/2+backbottomright.z/2);
//slide box and source as if the "middle" was at the origin
topfrontleft -= middle;
backbottomright-= middle;
source -= middle;
//scale source as if the box is the unit square
source /= topfrontleft;
//find the smallest magnatude of the source offset
point3d mag = abs(source);
auto min = std::min(mag.x,std::min(mag.y,mag.z));
//scale the source so that it touches the box
source /= min;
//then scale and slide that touching point back to original coordinates
source = source * topfrontleft + middle;
return source;
}
int main() {
Lattice lat(Cartesian(0,.5,.5), Cartesian(.5,0,.5), Cartesian(.5,.5,0));
Cartesian middle(0.5,0.5,0.5);
Relative middlerel = lat.toRelative(middle);
Reciprocal recip(0.2,0,0);
int resolution = 20;
Grid foo(lat, resolution, resolution, resolution),
bar(lat, resolution, resolution, resolution);
foo.Set(gaussian);
foo.epsSlice("demo.eps", Cartesian(1,0,0), Cartesian(0,1,0),
Cartesian(-.5,-.5,.5), 150);
foo.epsNativeSlice("native.eps", Cartesian(1,0,0), Cartesian(0,1,0),
Cartesian(-.5,-.5,.5));
//std::cout << "and here is the foo" << (foo + 2*bar + foo.cwise()*bar);
std::cout << "middle and middlerel are:\n"
<< middle << std::endl << middlerel << std::endl
<< lat.toCartesian(middlerel) << std::endl;
std::cout << "middle dot recip: " << recip * middle << std::endl;
return 0;
}
static Range<FreeAccessIteratorT__> find_bounds(
FreeAccessIteratorT__ begin___,
FreeAccessIteratorT__ end___,
ValueT__ const& value___,
BinaryPredicateT__ less___
) {
while (begin___ < end___) {
FreeAccessIteratorT__ current___(middle(begin___, end___));
if (less___(*current___, value___)) {
begin___ = current___ + 1;
} else if (less___(value___, *current___)) {
end___ = current___;
} else {
return Range<FreeAccessIteratorT__>(
::DD::find_lower_bound(begin___, current___, value___, less___),
::DD::find_higher_bound(current___ + 1, end___, value___, less___)
);
}
}
return Range<FreeAccessIteratorT__>(begin___, end___);
}
void makeMeshCircle(std::vector<Vector4f>& dst, float radius)
{
const int resolution = 64;
float interp = 1.0f / (float)resolution;
Vector4f middle(0.0f, 0.0f, 0.0f, 1.0f);
Vector4f v0(0.0f, 0.0f, 0.0f, 1.0f);
Vector4f v1(0.0f, 0.0f, 0.0f, 1.0f);
for(int i = 0; i<=resolution; ++i) {
float alpha0 = (float)(i+0) * interp * PI * 2.0f;
float alpha1 = (float)(i+1) * interp * PI * 2.0f;
v0.x = sin(alpha0);
v0.y = cos(alpha0);
v1.x = sin(alpha1);
v1.y = cos(alpha1);
dst.push_back(v0);
dst.push_back(middle);
dst.push_back(v1);
}
}
void NaoHeadControl::RealSlowScan()
{
float neckYaw, headPitch;
Vector3f left(0.0,-0.0,120.0), middle(0.0,-35.0,0.0), right(0.0,-0.0,-120.0);
if (headPathPlanner.getAngles(neckYaw, headPitch))
{
if (lastScanWasLeft)
{
Vector3f points[3]={left,middle, right};
headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 1200);
lastScanWasLeft = !lastScanWasLeft;
}
else
{
Vector3f points[3]={right, middle, left};
headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 1200);
lastScanWasLeft = !lastScanWasLeft;
}
}
setJointsDirect(neckYaw, headPitch);
}
void TerrainWeightEditor::RecreateBrush()
{
QLabel *brush_canvas = editor_widget_->findChild<QLabel *>("brush_label");
if(!brush_canvas)
return;
QPixmap map(brush_canvas->pixmap()->width(),brush_canvas->pixmap()->height()) ;
map.fill(QColor(neutral_color_, neutral_color_, neutral_color_));
QImage image = map.toImage();
QPoint middle(image.width()*0.5f, image.height()*0.5f);
f32 scale = static_cast<f32>(brush_size_max_)/image.width();
for(int x=0; x<image.width();x++)
{
for(int y=0; y<image.height();y++)
{
int col;
f32 dist = sqrt(pow(static_cast<f32>(x-middle.x()),2)+pow(static_cast<f32>(y-middle.y()),2));
if((dist*scale)>(brush_size_*0.5f))
{
col = neutral_color_;
}
else
{
int mod = abs(brush_modifier_) - abs(dist*(brush_modifier_*falloff_percentage_));
if(mod<1)
mod = 0;
if(brush_modifier_<0)
mod = -mod;
int col = neutral_color_ + mod;
image.setPixel(x,y, QColor(col,col,col).rgb());
}
}
}
brush_canvas->setPixmap(QPixmap::fromImage(image));
}
scalar stokesFirstProperties::linearWaveNumber() const
{
scalar lower(0.0);
scalar upper = Foam::max( 4.0 * PI_ / ( period_ * Foam::sqrt( Foam::mag(G_) * depth_)),
2.0 * PI_ / ( Foam::pow( period_, 2.0) ) );
scalar middle(0.5 * (lower + upper) );
scalar tanhMax(100);
scalar valLower( Foam::pow(omega_, 2.0) - Foam::mag(G_) * lower * Foam::tanh( Foam::min(lower * depth_, tanhMax) ) ),
valUpper( Foam::pow(omega_, 2.0) - Foam::mag(G_) * upper * Foam::tanh( Foam::min(upper * depth_, tanhMax) ) ),
valMiddle( Foam::pow(omega_, 2.0) - Foam::mag(G_) * middle * Foam::tanh( Foam::min(middle * depth_, tanhMax) ) );
while ( true )
{
if ( Foam::sign( valLower ) == Foam::sign( valMiddle ) )
{
lower = middle;
valLower = valMiddle;
}
else
{
upper = middle;
valUpper = valMiddle;
}
middle = 0.5 * ( lower + upper );
valMiddle = Foam::pow(omega_, 2.0) - Foam::mag(G_) * middle * Foam::tanh( Foam::min(middle * depth_, tanhMax) );
if ( Foam::mag(valMiddle) < 1.0e-13 || Foam::mag(valLower - valUpper) / middle < 1.0e-13 )
break;
}
return middle;
}
vector<Point2f> Train::rotateImage(Mat &image,
Mat &out,
float angle,
float scale)
{
int borderSize = 40;
int iRows = image.rows >> 1;
int iCols = image.cols >> 1;
int maxRC = max(iRows, iCols);
int maxSize = (int)(sqrt(pow(maxRC, 2.0) * 2) + borderSize + 2) << 1;
Mat tmp = Mat::zeros(maxSize, maxSize, image.type());
int nRows = maxSize >> 1;
int nCols = maxSize >> 1;
Rect middle(Point( nCols - iCols,
nRows - iRows),
Size(image.cols,
image.rows));
vector<Point2f> corners;
Point tl = middle.tl();
Point br = middle.br();
corners.push_back(Point2f(tl.x, tl.y));
corners.push_back(Point2f(tl.x, tl.y) + Point2f(image.cols, 0));
corners.push_back(Point2f(br.x, br.y));
corners.push_back(Point2f(tl.x, tl.y) + Point2f(0, image.rows));
vector<Point2f> outCorners(corners.size());
image.copyTo(tmp(middle));
Point2f center(nRows, nCols);
Mat rot = getRotationMatrix2D(center, -angle, scale);
warpAffine(tmp, out, rot,Size(maxSize, maxSize));
rotateCorners(corners, outCorners, center, angle, scale );
return outCorners;
}
BaseIF* makePlate(const Real& height,
const Real& thick,
const Real& radius,
const int& doHoles,
const Real& holeRadius,
const Real& holeSpace)
{
RealVect zero(D_DECL(0.0,0.0,0.0));
RealVect xAxis(D_DECL(1.0,0.0,0.0));
bool inside = true;
// Create the plate without holes
Vector<BaseIF*> pieces;
RealVect normal1(D_DECL(1.0,0.0,0.0));
RealVect point1(D_DECL(height,0.0,0.0));
PlaneIF plane1(normal1,point1,inside);
pieces.push_back(&plane1);
RealVect normal2(D_DECL(-1.0,0.0,0.0));
RealVect point2(D_DECL(height+thick,0.0,0.0));
PlaneIF plane2(normal2,point2,inside);
pieces.push_back(&plane2);
TiltedCylinderIF middle(radius,xAxis,zero,inside);
pieces.push_back(&middle);
IntersectionIF plate(pieces);
// Make the drills
Vector<BaseIF*> drillBits;
// Compute how many drills are needed in each direciton - 2*num+1 -
// conservatively
int num = (int)((radius - holeRadius) / holeSpace + 1.0);
if (doHoles != 0)
{
for (int i = -num; i <= num; i++)
{
for (int j = -num; j <= num; j++)
{
RealVect center(D_DECL(0.0,i*holeSpace,j*holeSpace));
TiltedCylinderIF* drill = new TiltedCylinderIF(holeRadius,xAxis,center,inside);
drillBits.push_back(drill);
}
}
}
UnionIF drills(drillBits);
ComplementIF notDrills(drills,true);
// Drill the plate
IntersectionIF* holyPlate = new IntersectionIF(plate,notDrills);
return holyPlate;
}
void MovieLooperUI::PositionIndicator::Draw(BRect update)
{
BRect rect = Bounds();
// draw the focus indicator
if (IsFocus())
{
SetHighColor(navigationColor);
StrokeRect(rect);
}
else // or not
{
// how bout a nice bevel?
SetHighColor(255,255,255,255);
StrokeLine(rect.RightTop(), rect.RightBottom());
StrokeLine(rect.LeftBottom(), rect.RightBottom());
SetHighColor(ui_color(B_PANEL_BACKGROUND_COLOR));
StrokeLine(rect.LeftTop(), rect.RightTop());
StrokeLine(rect.LeftTop(), rect.LeftBottom());
}
// the non-focus-indicating part of the view
rect.InsetBy(1.0,1.0);
// everything but the knobs
if (startCoord == 3.0 && endCoord == rect.right-2.0)
{
// green
SetHighColor(clipColor);
// don't draw where the knobs draw
rect.left += 5.0;
rect.right -= 5.0;
// draw
FillRect(rect & update);
}
else
{
BRect left(rect.left, rect.top, startCoord-3.0, rect.bottom),
right(endCoord+3.0, rect.top, rect.right, rect.bottom),
middle(startCoord+3.0, rect.top, endCoord-3.0, rect.bottom);
SetHighColor(clipColor);
FillRect(middle & update);
SetHighColor(unClipColor);
FillRect(left & update);
FillRect(right & update);
}
// the position indicator
if (update.left < playCoord && update.right > playCoord)
{
if (playCoord >= (startCoord+3.0) && playCoord <= (endCoord-3.0))
{
SetHighColor(0,0,0,255);
StrokeLine(BPoint(playCoord, 1.0), BPoint(playCoord, Bounds().bottom-1.0));
}
}
// and the knobs
rect.Set(startCoord-2.0, 1.0, startCoord+2.0, Bounds().bottom-1.0);
if (update.Intersects(rect))
DrawKnob(startCoord);
rect.Set(endCoord-2.0, 1.0, endCoord+2.0, Bounds().bottom-1.0);
if (update.Intersects(rect))
DrawKnob(endCoord);
}
void DeferredShading::draw_frustum(const Frustum &f)
{
Vec3 far[4];
copy(Slice<Vec3>(far), Slice<const Vec3>(f.far));
Vec3 near[4];
copy(Slice<Vec3>(near), Slice<const Vec3>(f.near));
Vec3 middle(0);
for (int i = 0; i < 4; i++) {
middle += near[i];
middle += far[i];
}
middle /= Vec3(8);
for (int i = 0; i < 4; i++) {
Vec3 tmp;
tmp = near[i] - middle;
tmp *= Vec3(0.9);
near[i] = middle + tmp;
tmp = far[i] - middle;
tmp *= Vec3(0.9);
far[i] = middle + tmp;
}
/*
for (int i = 0; i < 4; i++) {
const Vec3 dir = Normalize(near[i] - far[i]);
near[i] = far[i] + dir * Vec3(1500.0);
}
*/
vertex_buf.clear();
// quad vertices
// a b
// c d
// (when quad normal looks towards viewer)
auto quad = [&](const Vec3 &a, const Vec3 &b, const Vec3 &c, const Vec3 &d) {
vertex_buf.append({b, a, c});
vertex_buf.append({d, b, c});
};
// far
quad(far[FPC_TOP_LEFT], far[FPC_TOP_RIGHT],
far[FPC_BOTTOM_LEFT], far[FPC_BOTTOM_RIGHT]);
// near
quad(near[FPC_TOP_RIGHT], near[FPC_TOP_LEFT],
near[FPC_BOTTOM_RIGHT], far[FPC_BOTTOM_LEFT]);
// left
quad(near[FPC_TOP_LEFT], far[FPC_TOP_LEFT],
near[FPC_BOTTOM_LEFT], far[FPC_BOTTOM_LEFT]);
// right
quad(far[FPC_TOP_RIGHT], near[FPC_TOP_RIGHT],
far[FPC_BOTTOM_RIGHT], near[FPC_BOTTOM_RIGHT]);
// bottom
quad(far[FPC_BOTTOM_LEFT], far[FPC_BOTTOM_RIGHT],
near[FPC_BOTTOM_LEFT], near[FPC_BOTTOM_RIGHT]);
// top
quad(near[FPC_TOP_LEFT], near[FPC_TOP_RIGHT],
far[FPC_TOP_LEFT], far[FPC_TOP_RIGHT]);
draw_vertices(vertex_stream, vertex_buf);
}
//-----------------------------------------------------------------------------
// PROCESSING
//-----------------------------------------------------------------------------
void Mirror::add_perspective_to_mesh(ntk::Mesh *mesh, ntk::RGBDImage* image){
if(!mesh || !image) return;
if(!this->_flags[Mirror::PLANE]){
return ;
}
cv::Mat1f aux_depth = image->depth();
cv::Mat1b aux_depth_mask = image->depthMask();
cv::Mat3b aux_color = image->rgb();
ntk::Pose3D* aux_pose = image->calibration()->depth_pose;
//Create a mask with all existing masks
cv::Mat1b mega_mask;
image->depthMask().copyTo(mega_mask);
//image max and min to
int max_width;
int max_height;
int min_width;
int min_height;
if(this->_flags[Mirror::MASK]){
max_width = this->_area_max_width;
max_height = this->_area_max_height;
min_width = this->_area_min_width;
min_height = this->_area_min_height;
cv::bitwise_and(mega_mask,this->_area_mask,mega_mask);
}
else{
max_width = image->depth().cols;
max_height = image->depth().rows;
min_width = 0;
min_height = 0;
}
cv::Vec3f normal = this->_plane.normal();
normal*=-1;
cv::Point3f middle(0.012746937,0.12180407,-0.75500000);
for(int i = min_width ; i < max_width ; i++){
for(int j = min_height ; j < max_height ; j++){
cv::Point p(i,j);
//If the point is part of the mask
float coiso = aux_depth(p);
if(mega_mask(p) && coiso < 1){
//Unprojected point
cv::Point3f pf = aux_pose->unprojectFromImage(p, aux_depth(p));
//Project from Mirror
double dp = this->_plane.distanceToPlane(pf);
if(dp < 0.75){
cv::Point3f pt2;
pt2.x = pf.x + (dp * 2 * normal.val[0]);
pt2.y = pf.y + (dp * 2 * normal.val[1]);
pt2.z = pf.z + (dp * 2 * normal.val[2]);
//Color vector to pass from RGB to BGR
cv::Vec3b color = aux_color(p);
//Create the Surfel, add porperties and add to mesh
ntk::Surfel surf;
surf.location = cv::Point3f(pt2);
surf.color = cv::Vec3f(color.val[2],color.val[1],color.val[0]);
mesh->addPointFromSurfel(surf);
}
}
}
}
}
// This method checks if rects |a| and |b| are fully aligned either vertically or
// horizontally. In general, rects whose central point falls between the top or
// bottom of each other are considered fully aligned.
// Rects that match this criteria are preferable target nodes in move focus changing
// operations.
// * a = Current focused node's rect.
// * b = Focus candidate node's rect.
static bool areRectsFullyAligned(FocusDirection direction, const IntRect& a, const IntRect& b)
{
int aStart, bStart, aEnd, bEnd;
switch (direction) {
case FocusDirectionLeft:
aStart = a.x();
bEnd = b.right();
break;
case FocusDirectionRight:
aStart = b.x();
bEnd = a.right();
break;
case FocusDirectionUp:
aStart = a.y();
bEnd = b.y();
break;
case FocusDirectionDown:
aStart = b.y();
bEnd = a.y();
break;
default:
ASSERT_NOT_REACHED();
return false;
}
if (aStart < bEnd)
return false;
aStart = start(direction, a);
bStart = start(direction, b);
int aMiddle = middle(direction, a);
int bMiddle = middle(direction, b);
aEnd = end(direction, a);
bEnd = end(direction, b);
// Picture of the totally aligned logic:
//
// Horizontal Vertical Horizontal Vertical
// **************************** *****************************
// * _ * _ _ _ _ * * _ * _ _ *
// * |_| _ * |_|_|_|_| * * _ |_| * |_|_| *
// * |_|....|_| * . * * |_|....|_| * . *
// * |_| |_| (1) . * * |_| |_| (2) . *
// * |_| * _._ * * |_| * _ _._ _ *
// * * |_|_| * * * |_|_|_|_| *
// * * * * * *
// **************************** *****************************
// Horizontal Vertical Horizontal Vertical
// **************************** *****************************
// * _......_ * _ _ _ _ * * _ * _ _ _ _ *
// * |_| |_| * |_|_|_|_| * * |_| _ * |_|_|_|_| *
// * |_| |_| * . * * |_| |_| * . *
// * |_| (3) . * * |_|....|_| (4) . *
// * * ._ _ * * * _ _. *
// * * |_|_| * * * |_|_| *
// * * * * * *
// **************************** *****************************
return ((bMiddle >= aStart && bMiddle <= aEnd) // (1)
|| (aMiddle >= bStart && aMiddle <= bEnd) // (2)
|| (bStart == aStart) // (3)
|| (bEnd == aEnd)); // (4)
}
void KeyboardModel::createKeyboard()
{
_scene = new osg::Group;
osg::Vec3 origin(0.0f,0.0f,0.0f);
osg::Vec3 pos=origin;
addKey(pos,osgGA::GUIEventAdapter::KEY_Control_L,"Ctrl",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Super_L,"Super",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Alt_L,"Alt",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Space,"Space",3.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Mode_switch,"Switch",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Super_R,"Super",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Menu,"Menu",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Control_R,"Ctrl",2.0f,0.5f);
osg::Vec3 middle(pos.x()+1.0f,0.0f,0.0f);
pos.x() = 0.0f;
pos.z() += 1.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Shift_L,"Shift",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Backslash,"\\",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Z,"Z",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_X,"X",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_C,"C",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_V,"V",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_B,"B",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_N,"N",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_M,"M",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Comma,",",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Period,".",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Slash,"/",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Shift_R,"Shift",2.0f,0.5f);
pos.x() = 0.0f;
pos.z() += 1.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Caps_Lock,"Caps",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_A,"A",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_S,"S",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_D,"D",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_F,"F",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_G,"G",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_H,"H",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_J,"J",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_K,"K",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_L,"L",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Semicolon,";",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Quote,"'",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Hash,"#",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Return,"Return",4.0f,0.5f);
pos.x() = 0.0f;
pos.z() += 1.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Tab,"Tab",2.0f,0.5f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Q,"Q",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_W,"W",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_E,"E",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_R,"R",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_T,"T",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Y,"Y",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_U,"U",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_I,"I",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_O,"O",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_P,"P",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Leftbracket,"[",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Rightbracket,"]",1.0f,1.0f);
pos.x() = 0.0f;
pos.z() += 1.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Backquote,"`",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_1,"1",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_2,"2",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_3,"3",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_4,"4",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_5,"5",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_6,"6",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_7,"7",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_8,"8",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_9,"9",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_0,"0",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Minus,"-",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_Equals,"=",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_BackSpace,"Backspace",3.0f,0.5f);
pos.x() = 0.0f;
pos.z() += 1.5f;
float F_height = 0.5f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Escape,"Esc",2.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F1,"F1",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F2,"F2",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F3,"F3",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F4,"F4",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F5,"F5",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F6,"F6",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F7,"F7",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F8,"F8",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F9,"F9",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F10,"F10",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F11,"F11",1.0f,F_height);
addKey(pos,osgGA::GUIEventAdapter::KEY_F12,"F12",1.0f,F_height);
float cursorMoveHeight=0.35f;
pos = middle;
addKey(pos,osgGA::GUIEventAdapter::KEY_Left,"Left",1.0f,cursorMoveHeight);
osg::Vec3 down = pos;
addKey(pos,osgGA::GUIEventAdapter::KEY_Down,"Down",1.0f,cursorMoveHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_Right,"Right",1.0f,cursorMoveHeight);
osg::Vec3 keypad = pos;
keypad.x()+=1.0f;
pos = down;
pos.z() += 1.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Up,"Up",1.0f,cursorMoveHeight);
float homeHeight = 0.35f;
pos = middle;
pos.z() += 3.0;
addKey(pos,osgGA::GUIEventAdapter::KEY_Delete,"Delete",1.0f,homeHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_End,"End",1.0f,homeHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_Page_Down,"Page\nDown",1.0f,homeHeight);
pos = middle;
pos.z() += 4.0;
addKey(pos,osgGA::GUIEventAdapter::KEY_Insert,"Insert",1.0f,homeHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_Home,"Home",1.0f,homeHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_Page_Up,"Page\nUp",1.0f,homeHeight);
pos = middle;
pos.z() += 5.5;
addKey(pos,osgGA::GUIEventAdapter::KEY_Print,"PrtScrn\nSysRq",1.0f,homeHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_Scroll_Lock,"ScrLk",1.0f,homeHeight);
addKey(pos,osgGA::GUIEventAdapter::KEY_Pause,"Pause\nBreak",1.0f,homeHeight);
pos = keypad;
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Insert,"0",2.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Delete,".",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Enter,"Enter",1.0f,homeHeight);
pos = keypad;
pos.z() += 1.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_End,"1",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Down,"2",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Page_Down,"3",1.0f,1.0f);
pos = keypad;
pos.z() += 2.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Left,"4",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Begin,"5",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Right,"6",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Add,"+",1.0f,1.0f);
pos = keypad;
pos.z() += 3.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Home,"7",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Up,"8",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Page_Up,"9",1.0f,1.0f);
pos = keypad;
pos.z() += 4.0f;
addKey(pos,osgGA::GUIEventAdapter::KEY_Num_Lock,"Num\nLock",1.0f,0.3f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Divide,"/",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Multiply,"*",1.0f,1.0f);
addKey(pos,osgGA::GUIEventAdapter::KEY_KP_Subtract,"-",1.0f,1.0f);
float totalWidth = pos.x()-origin.x();
pos = origin;
pos.z() += -1.5f;
osg::Geode* geodeInput = new osg::Geode;
{
_inputText = new osgText::Text;
_inputText->setFont("fonts/arial.ttf");
_inputText->setColor(osg::Vec4(1.0f,1.0f,0.0f,1.0f));
_inputText->setCharacterSize(1.0f);
_inputText->setMaximumWidth(totalWidth);
_inputText->setPosition(pos);
_inputText->setDrawMode(osgText::Text::TEXT/*||osgText::Text::BOUNDINGBOX*/);
_inputText->setAlignment(osgText::Text::BASE_LINE);
_inputText->setAxisAlignment(osgText::Text::XZ_PLANE);
_inputText->setDataVariance(osg::Object::DYNAMIC);
_inputText->setText("Press some keys...");
geodeInput->addDrawable(_inputText.get());
_scene->addChild(geodeInput);
}
}
