void FPSDeclarativeView::drawForeground(QPainter *p, const QRectF &rect)
{
QDeclarativeView::drawForeground(p, rect);
if (m_showFPS) {
QFont npf("Nokia Pure");
npf.setPointSize(18);
p->setPen(Qt::red);
p->setFont(npf);
p->drawText(m_fpsRect, Qt::AlignRight, m_fpsMeasured ? "FPS: " + QString::number(m_fps) : "FPS: n/a");
}
}
void NodeColorSampler::operator()(LidarProcessOctree::Node& node,unsigned int nodeLevel)
{
if(node.isLeaf())
{
if(node.getNumPoints()>0)
{
/* Find all images whose bounding boxes overlap this node: */
std::vector<Image2D*> nodeImages;
for(std::vector<Image2D*>::const_iterator iIt=images.begin();iIt!=images.end();++iIt)
{
const Image2D::Box& box=(*iIt)->getWorldBox();
if(box.min[0]-lpo.getOffset()[0]<node.getDomain().getMax()[0]&&box.max[0]-lpo.getOffset()[0]>node.getDomain().getMin()[0]
&&box.min[1]-lpo.getOffset()[1]<node.getDomain().getMax()[1]&&box.max[1]-lpo.getOffset()[1]>node.getDomain().getMin()[1])
nodeImages.push_back(*iIt);
}
/* Page in all found images: */
imageCacher.requestImages(nodeImages);
/* Assign a color to each LiDAR point in this node: */
for(unsigned int i=0;i<node.getNumPoints();++i)
{
/* Copy the point's original color: */
colorBuffer[i]=node[i].value;
/* Lookup the point in all images overlapping this node: */
Geometry::Point<double,3> pos;
for(int j=0;j<3;++j)
pos[j]=double(node[i][j]+lpo.getOffset()[j]);
for(std::vector<Image2D*>::iterator iIt=nodeImages.begin();iIt!=nodeImages.end();++iIt)
{
Image2D::SampleResult sr=(*iIt)->getColor(Image2D::Point(pos.getComponents()));
if(sr.first)
{
/* Copy the sample result: */
for(int j=0;j<3;++j)
colorBuffer[i][j]=sr.second[j];
colorBuffer[i][3]=Color::Scalar(255);
++numAssignedColors;
/* Bail out: */
break;
}
}
}
}
}
else
{
/* Get pointers to the node's children and load their color arrays: */
colorFile.flush();
for(int childIndex=0;childIndex<8;++childIndex)
{
LidarProcessOctree::Node* child=lpo.getChild(&node,childIndex);
if(child->getNumPoints()>0)
{
colorFile.setReadPosAbs(LidarDataFileHeader::getFileSize()+colorDataSize*child->getDataOffset());
colorFile.read(childColorBuffers[childIndex],child->getNumPoints());
}
}
/* Find the direct ancestors of all LiDAR points in this node and copy their color values from the child arrays: */
for(unsigned int i=0;i<node.getNumPoints();++i)
{
/* Find the child node containing this point's ancestor: */
int pointChildIndex=node.getDomain().findChild(node[i]);
LidarProcessOctree::Node* pointChild=lpo.getChild(&node,pointChildIndex);
/* Find the point's ancestor: */
NodePointFinder npf(node[i]);
lpo.processNodePointsDirected(pointChild,npf);
if(npf.getFoundPoint()==0)
{
/* This is an internal corruption in the octree file. Print a helpful and non-offensive error message: */
Misc::throwStdErr("Fatal error: Octree file corrupted around position (%f, %f, %f)",node[i][0],node[i][1],node[i][2]);
}
/* Retrieve the ancestor's color: */
colorBuffer[i]=childColorBuffers[pointChildIndex][npf.getFoundPoint()-pointChild->getPoints()];
}
}
/* Write the node's colors to the color file: */
colorFile.setWritePosAbs(LidarDataFileHeader::getFileSize()+colorDataSize*node.getDataOffset());
colorFile.write(colorBuffer,node.getNumPoints());
/* Update the progress counter: */
++numProcessedNodes;
if(numProcessedNodes>=nextProgressUpdate)
{
int percent=int((numProcessedNodes*100+lpo.getNumNodes()/2)/lpo.getNumNodes());
std::cout<<"\rAssigning colors... "<<std::setw(3)<<percent<<"%"<<std::flush;
nextProgressUpdate=((percent+1)*lpo.getNumNodes()-lpo.getNumNodes()/2+99)/100;
}
}
