void DrawableText::applySettings(ResourceDescriptor settings) {
m_color.applySettings( settings.getSubResource("Color"));
m_location.applySettings( settings.getSubResource("Location") );
m_orientation.applySettings( settings.getSubResource("Orientation") );
ResourceDescriptor sub = settings.getSubResource("Text");
if (isNotEmpty(sub.getKey())) {
setText(sub.getValue());
}
sub = settings.getSubResource("Font");
if (isNotEmpty(sub.getValue())) {
setFont(sub.getValue());
}
sub = settings.getSubResource("Width");
if (isNotEmpty(sub.getValue())) {
m_width = toMeters(sub.getValue());
}
sub = settings.getSubResource("Height");
if (isNotEmpty(sub.getValue())) {
m_height = toMeters(sub.getValue());
}
}
void Box2DMouseJoint::setTarget(const QPointF &target)
{
const b2Vec2 targetMeters = toMeters(target);
if (mMouseJointDef.target == targetMeters)
return;
mMouseJointDef.target = targetMeters;
if (mouseJoint())
mouseJoint()->SetTarget(targetMeters);
emit targetChanged();
}
void Vector3D::applySettings(ResourceDescriptor settings) {
std::vector<string> values = split(settings.getValue(), ',');
if (values.size() == 3 || values.size() == 2) {
m_x = toMeters(values[0]);
m_y = toMeters(values[1]);
}
if (values.size() == 3) {
m_z = toMeters(values[2]);
}
ResourceDescriptor sub = settings.getSubResource("X");
if (isNotEmpty(sub.getValue())) {
m_x = toMeters(sub.getValue());
}
sub = settings.getSubResource("Y");
if (isNotEmpty(sub.getValue())) {
m_y = toMeters(sub.getValue());
}
sub = settings.getSubResource("Z");
if (isNotEmpty(sub.getValue())) {
m_z = toMeters(sub.getValue());
}
}
//extract blobs, get there 3D position, check which point they correspond to in HashTable
void GH::getModelPointsFromImage(const cv::Mat& img, std::vector<DetectionGH> &matches) const
{
//get blobs
vector<KeyPoint> blobs;
extractBlobs(img, blobs);
//plot them
//for(int p=0;p<blobs.size();p++)
// cv::circle(img, blobs[p].pt, (blobs[p].size - 1) / 2 + 1, cv::Scalar(255, 0, 0), -1);
//get list of points from blob (will have to be removed later as just a copy of blobs)
vector<Point2f> mPoints;
for(unsigned int p=0;p<blobs.size();p++)mPoints.push_back(toMeters(cameraCalibration.cameraMatrix,blobs[p].pt));
//empty output vectors
matches.clear();
//loop through all points
for(unsigned int p=0;p<mPoints.size();p++)
{
//for each point need to accumulate votes from HT
float votesId[nbIds];
//init all votes to 0
for(int id=0;id<nbIds;id++)
votesId[id]=0;
//for each point have to find the nbPtBasis closest points
vector<unsigned int> idNeigbors;
getClosestNeigbors(p, mPoints, idNeigbors);
//for each positively oriented possible triangle in closest neigbors
//define basis and project all points on it to fill HT
for(unsigned int tp2=0;tp2<idNeigbors.size();tp2++)
{
//get index of point 2 in mVerticesDes
unsigned int p2=idNeigbors[tp2];
//define first basis vector
Point2f basis1= mPoints[p2]-mPoints[p];
for(unsigned int tp3=0;tp3<idNeigbors.size();tp3++)
if(p2!=idNeigbors[tp3])
{
unsigned int p3=idNeigbors[tp3];
//define second basis
Point2f basis2= mPoints[p3]-mPoints[p];
//check direction of triangle
if(testDirectionBasis(basis1,basis2))
{
//put basis in a 2x2 matrix to inverse it and express all other points i this basis
Matx22f tBasis(basis1.x,basis2.x,basis1.y,basis2.y);
Matx22f tBasisInv=tBasis.inv();
//good basis => project all points and fill HT
for(unsigned int i=0;i<mPoints.size();i++)
if(i!=p && i!=p2 && i!=p3)
{
//project in current basis
Point2f relCoord=tBasisInv*(mPoints[i]-mPoints[p]);
//get bin
Point2i bin=toCell(relCoord);
//read HT with vote for p
if(bin.x>=0 && bin.x<nbBinPerDim.x && bin.y>=0 && bin.y<nbBinPerDim.y)
for(int id=0;id<nbIds;id++)
votesId[id]+=HashTable[bin.x*(nbBinPerDim.y*nbIds) + bin.y*nbIds + id];
}
}
}
}
//if had votes, then find the id with max value
int idPointEstim=-1;
int nbVotesForId=0;
for(int id=0;id<nbIds;id++)
if(votesId[id]>nbVotesForId)
{
idPointEstim=id;
nbVotesForId=votesId[id];
}
//find second best id to compute discriminative power
int idPointSecondBest=-1;
(void)idPointSecondBest;
int nbVotesForSecondBest=0;
for(int id=0;id<nbIds;id++)
if(id!=idPointEstim && votesId[id]>nbVotesForSecondBest)
{
idPointSecondBest=id;
nbVotesForSecondBest=votesId[id];
}
//add the point&id pair to output if id not already in list; if it is then need to check which one has most votes
if(nbVotesForId>0)
{
std::vector<DetectionGH>::iterator it;
it = find_if (matches.begin(), matches.end(), findIdInDetections(idPointEstim));
if (it != matches.end())//point exist, check which one is the best
{
int posInList=it-matches.begin();
if(matches[posInList].nbVotes<nbVotesForId)//if new one better than existing one, then replace it
{
matches[posInList].position=blobs[p].pt;
matches[posInList].id=idPointEstim;
matches[posInList].nbVotes=nbVotesForId;
matches[posInList].discriminativePower=nbVotesForId-nbVotesForSecondBest;
}
}
else
{
DetectionGH newMatch(blobs[p].pt,idPointEstim,nbVotesForId,nbVotesForId-nbVotesForSecondBest);
matches.push_back(newMatch);
}
}
}
}
void Box2DFrictionJoint::setLocalAnchorB(const QPointF &localAnchorB)
{
mFrictionJointDef.localAnchorB = toMeters(localAnchorB);
mAnchorsAuto = false;
emit localAnchorBChanged();
}
