colormap read_colormap_from_string(const std::string &spec, const size_t steps) {
std::istringstream iss(spec);
std::vector<std::string> tokens{std::istream_iterator<std::string>{iss},
std::istream_iterator<std::string>{}};
auto it = default_colormaps.find(tokens[0]);
if (it != default_colormaps.end()) {
return colormap(it->second, steps);
}
// default
return colormap(&colormap_basic_hot, steps);
}
void depthFirstVisit( Visitor& vis, const vertex_descriptor& vroot )
{
std::vector<boost::default_color_type > colormap( boost::num_vertices( _graph ), boost::white_color );
BOOST_FOREACH( const vertex_descriptor &vd, getVertices() )
{
vis.initialize_vertex( vd, _graph );
}
void FrameView::appendFrame (unsigned long long from, unsigned long long to)
{
//qDebug("frame: dt=%f", to - from);
QwtInterval interval(0.0f, 500.0f);
QwtLinearColorMap colormap(Qt::darkCyan, Qt::red);
colormap.addColorStop(0.1, Qt::cyan);
colormap.addColorStop(0.6, Qt::green);
colormap.addColorStop(0.8, Qt::yellow);
colormap.addColorStop(0.95, Qt::red);
QColor const c = colormap.color(interval, to - from);
m_bars->m_values.push_back(to - from);
m_bars->m_begins.push_back(from);
m_bars->m_ends.push_back(to);
m_bars->m_colors.push_back(c);
m_bars->m_strvalues.push_back(QString("%1").arg(m_bars->m_values.size()));
m_bars->setSamples(m_bars->m_values);
m_bars->itemChanged();
m_bars->legendChanged();
}
void CapturedImage::create(Camera *cam)
{
QVector<QRgb> colormap(256);
for(int i=0; i<256; i++)
{
colormap[i]=(0xFF000000 | (((unsigned char)(i))<<16) | (((unsigned char)(i))<<8) | ((unsigned char)(i)));
}
width=cam->getSizeWidth();
height=cam->getSizeHeight();
pixel_size=cam->getPixelByteSize();
qDebug()<<"Creata CapturedImage: "<<width<<"x"<<height<<"x"<<pixel_size*8;
long size = width*height*pixel_size;
unsigned char *data=new unsigned char[size];
qimage=new QImage((const unsigned char *)data, width, height, QImage::Format_Indexed8);
qimage->setColorTable(colormap);
delete [] data;
buffer.SetBuffer(qimage->bits(), size);
created=true;
}
void evtime() {
vector<int> runs;
vector<int> marks;
vector<int> mcols;
runs.push_back(13893);
marks.push_back(2);
mcols.push_back(2);
runs.push_back(14009);
marks.push_back(24);
mcols.push_back(4);
runs.push_back(14085);
marks.push_back(25);
mcols.push_back(3);
runs.push_back(14234);
marks.push_back(5);
mcols.push_back(3);
runs.push_back(14434);
marks.push_back(28);
mcols.push_back(3);
string pre = "run";
string suf = "evt.root";
double tmax = 160;
double emax = 180;
new TCanvas;
TH1* ph = new TH2F("hevtime", "Event vs. time; Time [sec]; Event",
tmax, 0, tmax, emax, 0, emax);
ph->SetStats(0);
ph->Draw("axis");
TLegend* pleg = new TLegend(0.65,0.15,0.85,0.37);
pleg->SetBorderSize(0);
for ( unsigned int isam=0; isam<runs.size(); ++isam ) {
int run = runs[isam];
int icol = dsindex(run);
int col = colormap(icol);
ostringstream ssrun;
ssrun << run;
string srun = ssrun.str();
ostringstream sst0;
sst0 << t0map(run);
string fname = pre + srun + suf;
TFile* pfile = TFile::Open(fname.c_str(), "READ");
TTree* ptree = dynamic_cast<TTree*>(pfile->Get("DXDisplay/EventTree"));
ptree->SetMarkerStyle(marks[isam]);
ptree->SetMarkerColor(col);
cout << run << " " << col << " " << sst0.str() << endl;
if ( ptree == 0 ) {
cout << "Tree not found" << endl;
pfile->ls();
return;
}
string sarg = "event:tlo-";
sarg += sst0.str();
sarg += ">>hevtime";
ptree->Draw(sarg.c_str(), "", "same");
pleg->AddEntry(ptree, srun.c_str(), "p");
}
pleg->Draw();
}
/*!
Create pixel values for grayscale, red and jet colormaps.
\param color the value of color
\return a QRgb which is a pixel representation using Qt Toolkit 4.0
*/
QRgb ImageB::getPixelRGB( int color )
{
const int gray=0, jet=1, pink=2;
QRgb value;
if (has_colormap != 1)
{
colormap = imgproc.createColorMap();
has_colormap = 1;
}
if (color > 255)
{
//cout << "Color Out of Range:" << color << endl;
color = 255;
}
switch ( curr_colormap )
{
case gray:
value = qRgb(color,color,color);
break;
case jet:
//transporta pra jet
color = (int) round( (color*63)/255 ); //seta proporcional a 63, pois o vetor jet tem no máximo 63 cores
if (color <= 0) color =1;
if (color > 63) //garante valores entre 1 e 63
color = 63;
value = qRgb( (int)colormap(color,1), (int) colormap(color,2), (int) colormap(color,3) );
break;
case pink:
value = qRgb((int) round((color*80)/100),0,(int) round((color*20)/100));
break;
default:
value = qRgb(0,0,0);
}
return value;
}
//_____________________________________________________
gboolean ArgbHelper::styleSetHook( GSignalInvocationHint*, guint, const GValue* params, gpointer )
{
// get widget from params
GtkWidget* widget( GTK_WIDGET( g_value_get_object( params ) ) );
// check type
if( !GTK_IS_WIDGET( widget ) ) return FALSE;
if( !GTK_IS_WINDOW( widget ) ) return TRUE;
// make sure widget has not been realized already
#if GTK_CHECK_VERSION(2, 20, 0)
if( gtk_widget_get_realized( widget ) ) return TRUE;
#else
if( GTK_WIDGET_REALIZED( widget ) ) return TRUE;
#endif
// screen
GdkScreen* screen = gdk_screen_get_default();
if( !screen ) return TRUE;
// colormap
GdkColormap* colormap(gdk_screen_get_rgba_colormap( screen ) );
if( !colormap ) return TRUE;
// hint
GtkWindow* window( GTK_WINDOW( widget ) );
GdkWindowTypeHint hint = gtk_window_get_type_hint( window );
if(
hint == GDK_WINDOW_TYPE_HINT_MENU ||
hint == GDK_WINDOW_TYPE_HINT_DROPDOWN_MENU ||
hint == GDK_WINDOW_TYPE_HINT_POPUP_MENU ||
hint == GDK_WINDOW_TYPE_HINT_TOOLTIP ||
hint == GDK_WINDOW_TYPE_HINT_COMBO
)
{
#if OXYGEN_DEBUG
std::cerr << "Oxygen::ArgbHelper::styleSetHook - "
<< widget << " (" << G_OBJECT_TYPE_NAME( widget ) << ")"
<< " hint: " << Gtk::TypeNames::windowTypeHint( hint )
<< std::endl;
#endif
// assign argb colormap to widget
gtk_widget_set_colormap( widget, colormap );
}
return TRUE;
}
std::vector<colormap> loadColorMapping(const resource_configuration& resconf)
{
Json::Reader reader;
Json::Value root;
std::ifstream input(color_mapping_file, std::ifstream::binary);
bool parsingSuccessful = reader.parse(input, root, false);
if (!parsingSuccessful) {
throw std::runtime_error(reader.getFormatedErrorMessages());
}
std::vector<colormap> ret;
auto members = root.getMemberNames();
for(const auto& membername : members) {
const auto& member = root[membername];
std::vector<color> colors;
if(!member[0u].isArray()) {
int r = member[0u].asInt();
int g = member[1u].asInt();
int b = member[2u].asInt();
colors.push_back(color(r, g, b));
} else {
for(const auto& col : member) {
int r = col[0u].asInt();
int g = col[1u].asInt();
int b = col[2u].asInt();
colors.push_back(color(r, g, b));
}
}
bool found = false;
for(int i = 0; i < num_terrain_types; i++) {
if(resconf.resource_name[i] == membername) {
for(const auto& col : colors) {
ret.push_back(colormap(col, i));
}
found = true;
break;
}
}
if(!found) {
printf("Warning: invalid terrain name \"%s\"\n", membername.c_str());
}
}
return ret;
}
QX11InfoData* QX11Info::getX11Data(bool def) const
{
QX11InfoData* res = 0;
if (def) {
res = new QX11InfoData;
res->ref = 0;
res->screen = appScreen();
res->depth = appDepth();
res->cells = appCells();
res->colormap = colormap();
res->defaultColormap = appDefaultColormap();
res->visual = (Visual*) appVisual();
res->defaultVisual = appDefaultVisual();
} else if (x11data) {
res = new QX11InfoData;
*res = *x11data;
res->ref = 0;
}
return res;
}
Volume3d::Volume3d(vtkSmartPointer<vtkImageData> data)
: mMaterial(MaterialSharedPtr(new Material(vertexShader, fragmentShader))),
mBackFaceMaterial(MaterialSharedPtr(new Material(backFaceVertexShader, backFaceFragmentShader))),
mBound(false),
mVertexAttrib(-1), mBFVertexAttrib(-1),
mProjectionUniform(-1), mModelViewUniform(-1), mDimensionsUniform(-1), mClipPlaneUniform(-1), mSpacingUniform(-1), mScreenSizeUniform(-1),
mBFProjectionUniform(-1), mBFModelViewUniform(-1), mBFDimensionsUniform(-1), mBFSpacingUniform(-1),
mTextureHandle(0), mBackFaceTextureHandle(0),
mFrameBuffer(0)
{
android_assert(data);
clearClipPlane();
// Check if the data dimension is 3
int dim = data->GetDataDimension();
LOGD("dimension = %d", dim);
if (dim != 3) {
throw std::runtime_error(
"Volume: data is not 3D (dimension = " + Utility::toString(dim) + ")"
);
}
if (!data->GetPointData() || !data->GetPointData()->GetScalars())
throw std::runtime_error("IsoSurface: unsupported data");
data->GetDimensions(mDimensions);
LOGD("dimensions %d %d %d", mDimensions[0], mDimensions[1], mDimensions[2]);
double spacing[3];
data->GetSpacing(spacing);
LOGD("spacing %f %f %f", spacing[0], spacing[1], spacing[2]);
mSpacing = Vector3(spacing[0], spacing[1], spacing[2]);//.normalized();
data->GetPointData()->GetScalars()->GetRange(mRange);
LOGD("range min=%f max=%f", mRange[0], mRange[1]);
vtkDataArray* scalars = data->GetPointData()->GetScalars();
android_assert(scalars);
unsigned int num = scalars->GetNumberOfTuples();
android_assert(num == static_cast<unsigned>(mDimensions[0]*mDimensions[1]*mDimensions[2]));
mTexture.resize(num*4);
for (unsigned int i = 0; i < num; ++i) {
double value = scalars->GetComponent(i, 0);
double norm = (value-mRange[0]) / (mRange[1]-mRange[0]);
float r, g, b;
colormap(norm, r, g, b);
mTexture[i*4+0] = r*255;
mTexture[i*4+1] = g*255;
mTexture[i*4+2] = b*255;
mTexture[i*4+3] = (0.03+0.3*norm)*255;
// mTexture[i*4+3] = (0.03+0.97*norm)*255;
// mTexture[i*4+3] = 0.3*norm*255;
// mTexture[i*4+3] = (0.3+0.7*norm)*255;
// mTexture[i*4+3] = (0.1+0.7*norm)*255;
// mTexture[i*4+3] = norm*255;
}
LOGD("loading finished");
}
double blue(double value)
{
double colors[] = PALETTE_BLUE;
return colormap(value, colors, PALETTE_LENGTH);
}
double green(double value)
{
double colors[] = PALETTE_GREEN;
return colormap(value, colors, PALETTE_LENGTH);
}
double red(double value)
{
double colors[] = PALETTE_RED;
return colormap(value, colors, PALETTE_LENGTH);
}
void MapTopo(struct elmapheaderV101 *map, struct Window *win, short MapAsSFC,
short MakeWater, short Visible, double *Elev)
{
short eco = 0, understory = 0, notsnow = 0, NoAlias = 0, VolumeTexture = 0,
Texture, QInterp = 1, ElInterp = 1, i, j, k, l, sum, Mode;
long NewSubPixArraySize, SubPixWidth, SubPixHeight, MinX, MaxX, StartY, EndY,
colval, x, y, zip, WtAvg;
/* changed from float to double 10/19/95 */
double AAX[3], AAY[3], Xoffset, dist;
double ecoline, snowline, m, h, d;
struct QCvalues QC;
UBYTE *PixPtr;
struct ColorComponents CC[4];
double fred, fgrn, fblu;
short PolyMinXPt, PolyMaxXPt, Tex, MinPt, MidPt, MaxPt, MinQPt, MaxQPt;
double ElX, ElY, LatX, LatY, LonX, LonY, QX, QY,
ElStart, LatStart, LonStart, QStart, ElPt, LatPt, LonPt, QPt,
Temp, X5, Y5, Y4, X3, El3, EloQY;
/* initialize */
Reflections = 0; /* enabled in WaterEco_Set() */
treedraw = undertreedraw = 0; /* enabled in ecoset() */
if (OldLightingModel)
{
h = sunlong - facelong * PiOver180 - diplong;
if (h > Pi) h -= TwoPi;
else if (h < -Pi) h += TwoPi;
d = sunlat - facelat * PiOver180 - diplat;
if (d > Pi) d -= TwoPi;
else if (d < -Pi) d += TwoPi;
sunangle = sqrt(h * h + d * d) * .7071;
if (sunangle > HalfPi) sunangle = HalfPi;
sunfactor = 1.0 - cos(sunangle);
sunshade = sunfactor * PARC_RNDR_MOTION(22);
sunshade += ((1.0 - sunshade) * cloudcover);
} /* if */
/* compute fade and fog factors */
fade = (qqq - PARC_RNDR_MOTION(20)) / PARC_RNDR_MOTION(21);
if (fade > 1.0) fade = 1.0;
else if (fade < 0.0) fade = 0.0;
if (fogrange == 0.0) fog = 0.0;
else
{
fog = (el - PARC_RNDR_MOTION(23)) / fogrange;
if (fog > 1.0) fog = 1.0;
else if (fog < 0.0) fog = 0.0;
} /* else */
/* if surface */
if (MapAsSFC)
{
short range;
double gradfact;
if (settings.reliefshade || (render & 0x01))
{
FloatCol = 8.0 + 7.99 * sunfactor + ROUNDING_KLUDGE;
ColMax = COL_SFC_MAX;
} /* if shading by sun angle */
if ((! settings.reliefshade) || (render & 0x01))
{
if (el < settings.surfel[1])
{
gradfact = ((double)settings.surfel[1] - el)
/ (settings.surfel[1] - settings.surfel[0]);
range = 0;
} /* low gradient */
else if (el >= settings.surfel[1] && el < settings.surfel[2])
{
gradfact = ((double)settings.surfel[2] - el)
/ (settings.surfel[2] - settings.surfel[1]);
range = 1;
} /* else if middle gradient */
else
{
gradfact = ((double)settings.surfel[3] - el)
/ (settings.surfel[3] - settings.surfel[2]);
range = 2;
} /* else upper gradient */
if (gradfact > 1.0) gradfact = 1.0;
else if (gradfact < 0.0) gradfact = 0.0;
FloatCol = 8.0 + 7.99 * gradfact + ROUNDING_KLUDGE;
ColMax = COL_SFC_MAX;
} /* if */
if (render & 0x01)
{
switch (range)
{
case 0:
{
CC[0].Red = PARC_RNDR_COLOR(7, 0);
CC[0].Red += (PARC_RNDR_COLOR(6, 0) - CC[0].Red) * gradfact;
CC[0].Grn = PARC_RNDR_COLOR(7, 1);
CC[0].Grn += (PARC_RNDR_COLOR(6, 1) - CC[0].Grn) * gradfact;
CC[0].Blu = PARC_RNDR_COLOR(7, 2);
CC[0].Blu += (PARC_RNDR_COLOR(6, 2) - CC[0].Blu) * gradfact;
break;
} /* low range */
case 1:
{
CC[0].Red = PARC_RNDR_COLOR(8, 0);
CC[0].Red += (PARC_RNDR_COLOR(7, 0) - CC[0].Red) * gradfact;
CC[0].Grn = PARC_RNDR_COLOR(8, 1);
CC[0].Grn += (PARC_RNDR_COLOR(7, 1) - CC[0].Grn) * gradfact;
CC[0].Blu = PARC_RNDR_COLOR(8, 2);
CC[0].Blu += (PARC_RNDR_COLOR(7, 2) - CC[0].Blu) * gradfact;
break;
} /* middle range */
case 2:
{
CC[0].Red = PARC_RNDR_COLOR(9, 0);
CC[0].Red += (PARC_RNDR_COLOR(8, 0) - CC[0].Red) * gradfact;
CC[0].Grn = PARC_RNDR_COLOR(9, 1);
CC[0].Grn += (PARC_RNDR_COLOR(8, 1) - CC[0].Grn) * gradfact;
CC[0].Blu = PARC_RNDR_COLOR(9, 2);
CC[0].Blu += (PARC_RNDR_COLOR(8, 2) - CC[0].Blu) * gradfact;
break;
} /* high range */
} /* switch color range */
CC[0].Red -= CC[0].Red * sunshade;
CC[0].Grn -= CC[0].Grn * sunshade;
CC[0].Blu -= CC[0].Blu * sunshade;
} /* if render to RGB */
eco = understory = 50;
goto EndDrawFace;
} /* if surface */
/* compute the shading factors for normal (not water) ecosystems */
relfactor = relel + 100.0 * random;
/* see if there is snow on the ground */
snowline = PARC_RNDRLN_ECO(1) +
diplong * PARC_SKLN_ECO(1) + diplat * PARC_SKLT_ECO(1)
+ PARC_RNDRRE_ECO(1) * relfactor;
if (settings.worldmap)
snowline -= ((abs(facelat) - abs(settings.globreflat)) * settings.globecograd);
if (settings.flatteneco)
snowline += ( (PARC_RNDR_MOTION(13) - snowline) * PARC_RNDR_MOTION(12) );
if (el >= snowline)
{
if (slope >= PARC_MNSL_ECO(1) && slope <= PARC_MXSL_ECO(1))
{
if (relfactor >= PARC_RNDRNR_ECO(1)
&& relfactor <= PARC_RNDRXR_ECO(1))
{
FloatCol = 1.0 + 4.99 * sunfactor;
ColMax = COL_SNOW_MAX;
CC[0].Red = PARC_MCOL_ECO(1, 0);
CC[0].Red -= pow(sunshade, 3.3) * CC[0].Red * PARC_RNDR_MOTION(22);
CC[0].Grn = PARC_MCOL_ECO(1, 1);
CC[0].Grn -= pow(sunshade, 3.4) * CC[0].Grn * PARC_RNDR_MOTION(22);
CC[0].Blu = PARC_MCOL_ECO(1, 2);
CC[0].Blu -= pow(sunshade, 3.8) * CC[0].Blu * PARC_RNDR_MOTION(22);
} /* if relel matchup */
else notsnow = 1;
} /* if slope matchup */
else notsnow = 1;
} /* if el > snowline */
else notsnow = 1;
/* We'll add some randomness to our colors for other than snow.
** Since "random" varies from -.1 to +.1, this will give us a variation of
** ±20 */
switch (dir)
{
case 0:
redrand = random * 200.0;
greenrand = random * 200.0;
bluerand = 0;
break;
case 1:
redrand = 0;
greenrand = random * 200.0;
bluerand = random * 200.0;
break;
case 2:
redrand = random * 200.0;
greenrand = 0;
bluerand = random * 200.0;
break;
case 3:
redrand = 0;
greenrand = random * 200.0;
bluerand = 0;
break;
} /* switch */
/* if below water level, make it wet */
if (MakeWater || el <= SeaLevel)
{
eco = WaterEco_Set(MakeWater, CC);
understory = PAR_UNDER_ECO(eco);
ecocount[eco] ++;
goto EndDrawFace;
} /* if make water */
/* Do the colormap thing. If it finds a result >= 0, we're outa here! */
if (cmap)
{
if ((eco = colormap(map, notsnow, CC, &understory)) >= 0)
{
ecocount[eco] ++;
goto EndDrawFace;
}
} /* if cmap */
/* We now know whether there is snow on the ground and that this is not
** a color-mapped polygon. Now search for an ecosystem match between
** the physical terrain conditions and the ecosystem parameter list */
for (eco=12; eco<ECOPARAMS; eco++)
{
ecoline = PARC_RNDRLN_ECO(eco) +
diplong * PARC_SKLN_ECO(eco) + diplat * PARC_SKLT_ECO(eco)
+ PARC_RNDRRE_ECO(eco) * relfactor;
if (settings.worldmap)
ecoline -= ((abs(facelat) - abs(settings.globreflat)) * settings.globecograd);
if (settings.flatteneco)
ecoline += ( (PARC_RNDR_MOTION(13) - ecoline) * PARC_RNDR_MOTION(12) );
if (el <= ecoline)
{
if (slope >= PARC_MNSL_ECO(eco) && slope <= PARC_MXSL_ECO(eco))
{
if (relfactor >= PARC_RNDRNR_ECO(eco) &&
relfactor <= PARC_RNDRXR_ECO(eco))
{
understory = ecoset(eco, notsnow, CC);
break;
} /* if relel matchup */
} /* if slope matchup */
} /* if elevation matchup */
} /* for eco=12... */
if (eco >= ECOPARAMS)
{
Log(WNG_ILL_VAL, "Ecosystem out of range.");
eco = settings.defaulteco;
understory = ecoset(eco, notsnow, CC);
} /* if */
ecocount[eco] ++;
/* Now hopefully, we have colors in all the CC arrays we need:
** CC[0] = the color of the bare ground (the understory's understory color
** unless there is snow).
** CC[1] = the understory texture color (only used if "undertreedraw"
** is 1 or more. It could be trees or rock texture, grass or whatever.
** CC[2] = the overstory color if there are trees or textures in the overstory.
** If the understory and overstory are the same ecosystem, this one will not
** be drawn since it would be rather redundant.
** We will now draw the plain polygon, unadorned by any bitmapped textures.
** If the ecosystem understory class is strata rock then the polygons will
** be given the strata treatment.
*/
EndDrawFace:
if (Visible)
{
if (render & 0x100)
{
long ct;
QC.compval1 = (long)(min(el, 32767.0)) * 65536 + eco * 256 + understory;
ct = aspect < 0.0 ? 0: aspect * PiUnder180 - 90.0;
if (ct < 0) ct += 360;
QC.compval2 = ((long)relfactor + 1000) * 65536 + ct;
QC.compval3 = (short)(slope * PiUnder180) * 256 + (short)(sunangle * PiUnder180);
} /* if render to QC buffer */
if (render & 0x01)
{
CC[3].Red = sunshade * PARC_RNDR_COLOR(1, 0); /* ambient pre-calc */
CC[3].Grn = sunshade * PARC_RNDR_COLOR(1, 1);
CC[3].Blu = sunshade * PARC_RNDR_COLOR(1, 2);
/* This is now done on a pixel basis to facilitate texture mapping
CC[0].Red += sunshade * PARC_RNDR_COLOR(1, 0); /* ambient */
CC[0].Grn += sunshade * PARC_RNDR_COLOR(1, 1);
CC[0].Blu += sunshade * PARC_RNDR_COLOR(1, 2);
CC[0].Red += (PARC_RNDR_COLOR(2, 0) - CC[0].Red) * fade;
CC[0].Red += (PARC_RNDR_COLOR(2, 0) - CC[0].Red) * fog;
CC[0].Red *= redsun;
CC[0].Grn += (PARC_RNDR_COLOR(2, 1) - CC[0].Grn) * fade;
CC[0].Grn += (PARC_RNDR_COLOR(2, 1) - CC[0].Grn) * fog;
CC[0].Grn *= greensun;
CC[0].Blu += (PARC_RNDR_COLOR(2, 2) - CC[0].Blu) * fade;
CC[0].Blu += (PARC_RNDR_COLOR(2, 2) - CC[0].Blu) * fog;
CC[0].Blu *= bluesun;
if (CC[0].Red > 255) red = 255;
else red = (CC[0].Red < 0) ? 0: CC[0].Red;
if (CC[0].Grn > 255) green = 255;
else green = CC[0].Grn < 0 ? 0: CC[0].Grn;
if (CC[0].Blu > 255) blue = 255;
else blue = CC[0].Blu < 0 ? 0: CC[0].Blu;
*/
} /* if render to RGB */
/* determine which poly corner is largest and smallest along x axis */
/* temporary switch - should also be enabled in settings editor */
Texture = PAR_TYPE_ECO(PAR_UNDER_ECO(understory));
if (! MapAsSFC)
{
if (((Texture & 0x00ff) >= 100)
&& ((Texture & 0x00ff) < 150)
&& (PARC_RNDRDN_ECO(PAR_UNDER_ECO(understory)) > treerand2 * 100.0)) /* if procedural texture */
VolumeTexture = 1;
}
if (polyx[b][2] > polyx[b][0])
{
if (polyx[b][2] > polyx[b][1])
{
PolyMaxXPt = 2;
PolyMinXPt = polyx[b][1] < polyx[b][0] ? 1: 0;
} /* if */
else
{
PolyMaxXPt = 1;
PolyMinXPt = polyx[b][2] < polyx[b][0] ? 2: 0;
} /* else */
} /* if */
else
{
if (polyx[b][0] > polyx[b][1])
{
PolyMaxXPt = 0;
PolyMinXPt = polyx[b][2] < polyx[b][1] ? 2: 1;
} /* if */
else
{
PolyMaxXPt = 1;
PolyMinXPt = polyx[b][2] < polyx[b][0] ? 2: 0;
} /* else */
} /* else */
if (polyy[b][0] < 0.0) yy[0] --;
if (polyy[b][1] < 0.0) yy[1] --;
if (polyy[b][2] < 0.0) yy[2] --;
if (polyx[b][0] < 0.0) xx[0] --;
if (polyx[b][1] < 0.0) xx[1] --;
if (polyx[b][2] < 0.0) xx[2] --;
MinX = xx[PolyMinXPt];
MaxX = xx[PolyMaxXPt];
if (MaxX < 0 || MinX > wide || yy[0] > high || yy[2] < 0)
goto DrawTrees;
SubPixWidth = 10 * (1 + MaxX - MinX);
SubPixHeight = 10 * (1 + yy[2] - yy[0]);
NewSubPixArraySize = SubPixWidth * SubPixHeight;
if (NewSubPixArraySize > SubPixArraySize)
{
free_Memory(SubPix, SubPixArraySize);
SubPixArraySize = 0;
if ((SubPix = get_Memory(NewSubPixArraySize, MEMF_CLEAR)) == NULL)
{
NoAlias = 1;
}
else
{
SubPixArraySize = NewSubPixArraySize;
}
} /* if need larger array */
else
{
memset(SubPix, 0, NewSubPixArraySize);
} /* else clear as much of array as needed */
if (EdgeSize < SubPixHeight * sizeof (short))
{
free_Memory(Edge1, EdgeSize);
free_Memory(Edge2, EdgeSize);
EdgeSize = 0;
Edge1 = (short *)get_Memory(SubPixHeight * sizeof (short), MEMF_CLEAR);
Edge2 = (short *)get_Memory(SubPixHeight * sizeof (short), MEMF_CLEAR);
if (! Edge1 || ! Edge2)
{
NoAlias = 1;
}
else
{
EdgeSize = SubPixHeight * sizeof (short);
}
} /* if need new edge arrays */
if (! NoAlias)
{
AAX[0] = 10.0 * (polyx[b][0] - MinX);
AAX[1] = 10.0 * (polyx[b][1] - MinX);
AAY[0] = 10.0 * (polyy[b][0] - yy[0]);
AAY[1] = 10.0 * (polyy[b][1] - yy[0]);
AAY[2] = 10.0 * (polyy[b][2] - yy[0]);
if (polyy[b][0] == polyy[b][2]) m = 0.0;
else m = (polyx[b][2] - polyx[b][0]) / (polyy[b][2] - polyy[b][0]);
StartY = AAY[0] - (int)AAY[0] < .5 ? (int)AAY[0]: 1 + (int)AAY[0];
EndY = AAY[2] - (int)AAY[2] > .5 ? (int)AAY[2]: (int)AAY[2] - 1;
Xoffset = AAX[0] + (StartY + .5 - AAY[0]) * m;
for (y=StartY; y<=EndY; y++)
{
Edge1[y] = (int)Xoffset;
Xoffset += m;
}
if (polyy[b][0] == polyy[b][1]) m = 0.0;
else m = (polyx[b][1] - polyx[b][0]) / (polyy[b][1] - polyy[b][0]);
EndY = AAY[1] - (int)AAY[1] > .5 ? (int)AAY[1]: (int)AAY[1] - 1;
Xoffset = AAX[0] + (StartY + .5 - AAY[0]) * m;
for (y=StartY; y<=EndY; y++)
{
Edge2[y] = (int)Xoffset;
Xoffset += m;
}
PixPtr = &SubPix[StartY * SubPixWidth];
for (y=StartY; y<=EndY; y++)
{
if (Edge2[y] >= Edge1[y])
{
for (x=Edge1[y]; x<=Edge2[y]; x++)
{
PixPtr[x] = 0x01;
}
}
else
{
for (x=Edge2[y]; x<=Edge1[y]; x++)
{
PixPtr[x] = 0x01;
}
}
PixPtr += SubPixWidth;
}
if (polyy[b][2] == polyy[b][1]) m = 0.0;
else m = (polyx[b][2] - polyx[b][1]) / (polyy[b][2] - polyy[b][1]);
StartY = AAY[1] - (int)AAY[1] < .5 ? (int)AAY[1]: 1 + (int)AAY[1];
EndY = AAY[2] - (int)AAY[2] > .5 ? (int)AAY[2]: (int)AAY[2] - 1;
Xoffset = AAX[1] + (StartY + .5 - AAY[1]) * m;
for (y=StartY; y<=EndY; y++)
{
Edge2[y] = (int)Xoffset;
Xoffset += m;
}
PixPtr = &SubPix[StartY * SubPixWidth];
for (y=StartY; y<=EndY; y++)
{
if (Edge2[y] >= Edge1[y])
{
for (x=Edge1[y]; x<=Edge2[y]; x++)
{
PixPtr[x] = 0x01;
}
}
else
{
for (x=Edge2[y]; x<=Edge1[y]; x++)
{
PixPtr[x] = 0x01;
}
}
PixPtr += SubPixWidth;
}
/* figure x and y gradients across polygon for lat, lon, Z and elev */
/* latitude */
if (polylat[b][2] > polylat[b][0])
{
if (polylat[b][2] > polylat[b][1])
{
MaxPt = 2;
MinPt = polylat[b][1] < polylat[b][0] ? 1: 0;
MidPt = MinPt == 1 ? 0: 1;
} /* if */
else
{
MaxPt = 1;
MinPt = polylat[b][2] < polylat[b][0] ? 2: 0;
MidPt = MinPt == 2 ? 0: 2;
} /* else */
} /* if */
else
{
if (polylat[b][0] > polylat[b][1])
{
MaxPt = 0;
MinPt = polylat[b][2] < polylat[b][1] ? 2: 1;
MidPt = MinPt == 2 ? 1: 2;
} /* if */
else
{
MaxPt = 1;
MinPt = polylat[b][2] < polylat[b][0] ? 2: 0;
MidPt = MinPt == 2 ? 0: 2;
} /* else */
} /* else */
if (polylat[b][MaxPt] == polylat[b][MinPt])
{
LatX = 0.0;
LatY = 0.0;
} /* that was easy */
else
{
Temp = (polylat[b][MidPt] - polylat[b][MinPt]) /
(polylat[b][MaxPt] - polylat[b][MinPt]);
X5 = Temp * (polyx[b][MaxPt] - polyx[b][MinPt]) + polyx[b][MinPt];
Y5 = Temp * (polyy[b][MaxPt] - polyy[b][MinPt]) + polyy[b][MinPt];
if (polyy[b][MaxPt] == polyy[b][MinPt])
{
LatY = LatX = 0.0;
LatStart = facelat;
goto StartLon;
/* X3 = Y4 = infinity;*/
} /* if */
X3 = polyx[b][MinPt] + (polyy[b][MidPt] - polyy[b][MinPt]) *
(polyx[b][MaxPt] - polyx[b][MinPt]) /
(polyy[b][MaxPt] - polyy[b][MinPt]);
if (X5 == polyx[b][MidPt])
{
LatY = LatX = 0.0;
LatStart = facelat;
goto StartLon;
/* Y4 = infinity;*/
} /* if */
Y4 = polyy[b][MidPt] + (X3 - polyx[b][MidPt]) *
(Y5 - polyy[b][MidPt]) / (X5 - polyx[b][MidPt]);
if (polyx[b][MaxPt] != polyx[b][MinPt])
El3 = polylat[b][MinPt] + (X3 - polyx[b][MinPt]) *
(polylat[b][MaxPt] - polylat[b][MinPt]) /
(polyx[b][MaxPt] - polyx[b][MinPt]);
else if (polyy[b][MaxPt] != polyy[b][MinPt])
El3 = polylat[b][MinPt] + (polyy[b][MidPt] - polyy[b][MinPt]) *
(polylat[b][MaxPt] - polylat[b][MinPt]) /
(polyy[b][MaxPt] - polyy[b][MinPt]);
else
{
LatY = LatX = 0.0;
LatStart = facelat;
goto StartLon;
} /* else */
if (X3 != polyx[b][MidPt] && Y4 != polyy[b][MidPt])
{
LatX = (El3 - polylat[b][MidPt]) / (X3 - polyx[b][MidPt]);
LatY = (El3 - polylat[b][MidPt]) / (polyy[b][MidPt] - Y4);
} /* if */
else
{
LatY = LatX = 0.0;
LatStart = facelat;
goto StartLon;
} /* else */
} /* else not so easy */
LatStart = polylat[b][MidPt] + (polyx[b][PolyMinXPt] - polyx[b][MidPt])
* LatX;
LatStart += (polyy[b][0] - polyy[b][MidPt]) * LatY;
/* longitude */
StartLon:
if (polylon[b][2] > polylon[b][0])
{
if (polylon[b][2] > polylon[b][1])
{
MaxPt = 2;
MinPt = polylon[b][1] < polylon[b][0] ? 1: 0;
MidPt = MinPt == 1 ? 0: 1;
} /* if */
else
{
MaxPt = 1;
MinPt = polylon[b][2] < polylon[b][0] ? 2: 0;
MidPt = MinPt == 2 ? 0: 2;
} /* else */
} /* if */
else
{
if (polylon[b][0] > polylon[b][1])
{
MaxPt = 0;
MinPt = polylon[b][2] < polylon[b][1] ? 2: 1;
MidPt = MinPt == 2 ? 1: 2;
} /* if */
else
{
MaxPt = 1;
MinPt = polylon[b][2] < polylon[b][0] ? 2: 0;
MidPt = MinPt == 2 ? 0: 2;
} /* else */
} /* else */
if (polylon[b][MaxPt] == polylon[b][MinPt])
{
LonX = 0.0;
LonY = 0.0;
} /* that was easy */
else
{
Temp = (polylon[b][MidPt] - polylon[b][MinPt]) /
(polylon[b][MaxPt] - polylon[b][MinPt]);
X5 = Temp * (polyx[b][MaxPt] - polyx[b][MinPt]) + polyx[b][MinPt];
Y5 = Temp * (polyy[b][MaxPt] - polyy[b][MinPt]) + polyy[b][MinPt];
if (polyy[b][MaxPt] == polyy[b][MinPt])
{
LonY = LonX = 0.0;
LonStart = facelong;
goto StartZ;
/* X3 = Y4 = infinity;*/
} /* if */
X3 = polyx[b][MinPt] + (polyy[b][MidPt] - polyy[b][MinPt]) *
(polyx[b][MaxPt] - polyx[b][MinPt]) /
(polyy[b][MaxPt] - polyy[b][MinPt]);
if (X5 == polyx[b][MidPt])
{
LonY = LonX = 0.0;
LonStart = facelong;
goto StartZ;
/* Y4 = infinity;*/
} /* if */
Y4 = polyy[b][MidPt] + (X3 - polyx[b][MidPt]) *
(Y5 - polyy[b][MidPt]) / (X5 - polyx[b][MidPt]);
if (polyx[b][MaxPt] != polyx[b][MinPt])
El3 = polylon[b][MinPt] + (X3 - polyx[b][MinPt]) *
(polylon[b][MaxPt] - polylon[b][MinPt]) /
(polyx[b][MaxPt] - polyx[b][MinPt]);
else if (polyy[b][MaxPt] != polyy[b][MinPt])
El3 = polylon[b][MinPt] + (polyy[b][MidPt] - polyy[b][MinPt]) *
(polylon[b][MaxPt] - polylon[b][MinPt]) /
(polyy[b][MaxPt] - polyy[b][MinPt]);
else
{
LonY = LonX = 0.0;
LonStart = facelong;
goto StartZ;
} /* else */
if (X3 != polyx[b][MidPt] && Y4 != polyy[b][MidPt])
{
LonX = (El3 - polylon[b][MidPt]) / (X3 - polyx[b][MidPt]);
LonY = (El3 - polylon[b][MidPt]) / (polyy[b][MidPt] - Y4);
} /* if */
else
{
LonY = LonX = 0.0;
LonStart = facelong;
goto StartZ;
} /* else */
} /* else not so easy */
LonStart = polylon[b][MidPt] + (polyx[b][PolyMinXPt] - polyx[b][MidPt])
* LonX;
LonStart += (polyy[b][0] - polyy[b][MidPt]) * LonY;
StartZ:
/* z buffer */
if (polyq[b][2] > polyq[b][0])
{
if (polyq[b][2] > polyq[b][1])
{
MaxQPt = 2;
MinQPt = polyq[b][1] < polyq[b][0] ? 1: 0;
MidPt = MinQPt == 1 ? 0: 1;
} /* if */
else
{
MaxQPt = 1;
MinQPt = polyq[b][2] < polyq[b][0] ? 2: 0;
MidPt = MinQPt == 2 ? 0: 2;
} /* else */
} /* if */
else
{
if (polyq[b][0] > polyq[b][1])
{
MaxQPt = 0;
MinQPt = polyq[b][2] < polyq[b][1] ? 2: 1;
MidPt = MinQPt == 2 ? 1: 2;
} /* if */
else
{
MaxQPt = 1;
MinQPt = polyq[b][2] < polyq[b][0] ? 2: 0;
MidPt = MinQPt == 2 ? 0: 2;
} /* else */
} /* else */
if (polyq[b][MaxQPt] == polyq[b][MinQPt])
{
QX = 0.0;
QY = 0.0;
} /* that was easy */
else
{
Temp = (polyq[b][MidPt] - polyq[b][MinQPt]) /
(polyq[b][MaxQPt] - polyq[b][MinQPt]);
X5 = Temp * (polyx[b][MaxQPt] - polyx[b][MinQPt]) + polyx[b][MinQPt];
Y5 = Temp * (polyy[b][MaxQPt] - polyy[b][MinQPt]) + polyy[b][MinQPt];
if (polyy[b][MaxQPt] == polyy[b][MinQPt])
{
QInterp = 0;
QY = QX = 0.0;
QStart = qqq;
goto StartEl;
/* X3 = Y4 = infinity;*/
} /* if */
X3 = polyx[b][MinQPt] + (polyy[b][MidPt] - polyy[b][MinQPt]) *
(polyx[b][MaxQPt] - polyx[b][MinQPt]) /
(polyy[b][MaxQPt] - polyy[b][MinQPt]);
if (X5 == polyx[b][MidPt])
{
QInterp = 0;
QY = QX = 0.0;
QStart = qqq;
goto StartEl;
/* Y4 = infinity;*/
} /* if */
Y4 = polyy[b][MidPt] + (X3 - polyx[b][MidPt]) *
(Y5 - polyy[b][MidPt]) / (X5 - polyx[b][MidPt]);
if (polyx[b][MaxQPt] != polyx[b][MinQPt])
El3 = polyq[b][MinQPt] + (X3 - polyx[b][MinQPt]) *
(polyq[b][MaxQPt] - polyq[b][MinQPt]) /
(polyx[b][MaxQPt] - polyx[b][MinQPt]);
else if (polyy[b][MaxQPt] != polyy[b][MinQPt])
El3 = polyq[b][MinQPt] + (polyy[b][MidPt] - polyy[b][MinQPt]) *
(polyq[b][MaxQPt] - polyq[b][MinQPt]) /
(polyy[b][MaxQPt] - polyy[b][MinQPt]);
else
{
QInterp = 0;
QY = QX = 0.0;
QStart = qqq;
goto StartEl;
} /* else */
if (X3 != polyx[b][MidPt] && Y4 != polyy[b][MidPt])
{
QX = (El3 - polyq[b][MidPt]) / (X3 - polyx[b][MidPt]);
QY = (El3 - polyq[b][MidPt]) / (polyy[b][MidPt] - Y4);
} /* if */
else
{
QInterp = 0;
QY = QX = 0.0;
QStart = qqq;
goto StartEl;
} /* else */
} /* else not so easy */
QStart = polyq[b][MidPt] + (polyx[b][PolyMinXPt] - polyx[b][MidPt])
* QX;
QStart += (polyy[b][0] - polyy[b][MidPt]) * QY;
/* elevation */
StartEl:
if (Elev[2] > Elev[0])
{
if (Elev[2] > Elev[1])
{
MaxPt = 2;
MinPt = Elev[1] < Elev[0] ? 1: 0;
MidPt = MinPt == 1 ? 0: 1;
} /* if */
else
{
MaxPt = 1;
MinPt = Elev[2] < Elev[0] ? 2: 0;
MidPt = MinPt == 2 ? 0: 2;
} /* else */
} /* if */
else
{
if (Elev[0] > Elev[1])
{
MaxPt = 0;
MinPt = Elev[2] < Elev[1] ? 2: 1;
MidPt = MinPt == 2 ? 1: 2;
} /* if */
else
{
MaxPt = 1;
MinPt = Elev[2] < Elev[0] ? 2: 0;
MidPt = MinPt == 2 ? 0: 2;
} /* else */
} /* else */
if (Elev[MaxPt] == Elev[MinPt])
{
ElX = 0.0;
ElY = 0.0;
} /* that was easy */
else
{
Temp = (Elev[MidPt] - Elev[MinPt]) /
(Elev[MaxPt] - Elev[MinPt]);
X5 = Temp * (polyx[b][MaxPt] - polyx[b][MinPt]) + polyx[b][MinPt];
Y5 = Temp * (polyy[b][MaxPt] - polyy[b][MinPt]) + polyy[b][MinPt];
if (polyy[b][MaxPt] == polyy[b][MinPt])
{
ElInterp = 0;
ElY = ElX = 0.0;
ElStart = el;
goto StartDraw;
/* X3 = Y4 = infinity;*/
} /* if */
X3 = polyx[b][MinPt] + (polyy[b][MidPt] - polyy[b][MinPt]) *
(polyx[b][MaxPt] - polyx[b][MinPt]) /
(polyy[b][MaxPt] - polyy[b][MinPt]);
if (X5 == polyx[b][MidPt])
{
ElInterp = 0;
ElY = ElX = 0.0;
ElStart = el;
goto StartDraw;
/* Y4 = infinity;*/
} /* if */
Y4 = polyy[b][MidPt] + (X3 - polyx[b][MidPt]) *
(Y5 - polyy[b][MidPt]) / (X5 - polyx[b][MidPt]);
if (polyx[b][MaxPt] != polyx[b][MinPt])
El3 = Elev[MinPt] + (X3 - polyx[b][MinPt]) *
(Elev[MaxPt] - Elev[MinPt]) /
(polyx[b][MaxPt] - polyx[b][MinPt]);
else if (polyy[b][MaxPt] != polyy[b][MinPt])
El3 = Elev[MinPt] + (polyy[b][MidPt] - polyy[b][MinPt]) *
(Elev[MaxPt] - Elev[MinPt]) /
(polyy[b][MaxPt] - polyy[b][MinPt]);
else
{
ElInterp = 0;
ElY = ElX = 0.0;
ElStart = el;
goto StartDraw;
} /* else */
if (X3 != polyx[b][MidPt] && Y4 != polyy[b][MidPt])
{
ElX = (El3 - Elev[MidPt]) / (X3 - polyx[b][MidPt]);
ElY = (El3 - Elev[MidPt]) / (polyy[b][MidPt] - Y4);
} /* if */
else
{
ElInterp = 0;
ElY = ElX = 0.0;
ElStart = el;
goto StartDraw;
} /* else */
} /* else not so easy */
ElStart = Elev[MidPt] + (polyx[b][PolyMinXPt] - polyx[b][MidPt]) * ElX;
ElStart += (polyy[b][0] - polyy[b][MidPt]) * ElY;
StartDraw:
if (QY != 0.0)
EloQY = .001 * ElY / QY;
else
EloQY = 0.0;
for (y=yy[0], k=0; y<=yy[2]; y++,k++,QStart+=QY,ElStart+=ElY,LatStart+=LatY,LonStart+=LonY)
{
if (y < 0) continue;
if (y > oshigh) break;
zip = scrnrowzip[y] + MinX;
for (x=MinX, l=0, QPt=QStart, ElPt=ElStart, LatPt=LatStart, LonPt=LonStart;
x<=MaxX; x++, l++, zip++, QPt+=QX, ElPt+=ElX, LatPt+=LatX, LonPt+=LonX)
{
if (x < 0)
continue;
if (x > wide)
break;
dist = *(zbuf + zip);
if (! QInterp)
QPt = qqq;
else
{
if (QPt < polyq[b][MinQPt])
QPt = polyq[b][MinQPt];
else if (QPt > polyq[b][MaxQPt])
QPt = polyq[b][MaxQPt];
} /* else */
if (! ElInterp)
ElPt = el;
else
{
if (ElPt < Elev[MinPt])
ElPt = Elev[MinPt];
else if (ElPt > Elev[MaxPt])
ElPt = Elev[MaxPt];
} /* else */
if (QPt <= dist + PtrnOffset || (unsigned int)bytemap[zip] < 100)
{
sum = 0;
PixPtr = &SubPix[k * 10 * SubPixWidth + l * 10];
for (i=0; i<10; i++)
{
for (j=0; j<10; j++)
{
sum += (unsigned int)PixPtr[j];
} /* for j=0... */
PixPtr += SubPixWidth;
} /* for i=0... */
if (sum)
{
if (render & 0x01)
{
/* changed this from ptrnoffset to HalfPtrnOffset 1/2/96 to elliminate
spider webs */
if (bytemap[zip]
&& (QPt >= dist || ((sum < 100) && (dist - QPt < HalfPtrnOffset))))
Mode = MODE_AVERAGE;
else
Mode = MODE_REPLACE;
if (VolumeTexture)
{
if (Texture & 0x0200) /* if strata colors */
{
Tex = ComputeTextureColor(ElPt, LatPt, LonPt, ElY, &CC[0]);
CC[0].Red -= sunshade * CC[0].Red; /* shading */
CC[0].Grn -= sunshade * CC[0].Grn;
CC[0].Blu -= sunshade * CC[0].Blu;
} /* if */
else if (Texture & 0x0100) /* if plain strata */
{
Tex = ComputeTexture(ElPt, LatPt, LonPt, ElY);
} /* else if */
else Tex = 255;
/* This is a test - replace with optional fracture texture
Tex *= ((355 - MakeNoise(NoiseMap, 200, LatPt * 480.0, LonPt * 480.0)) / 255.0);
if (Tex > 255)
Tex = 255;
*/
} /* if strata */
/*
else if (NoiseTexture)
{
Tex = ((255 - MakeNoise(NoiseMap, 75, LatPt * 480.0, LonPt * 480.0)) / 255.0);
/* Tex = ComputeBumpMapTexture(LatPt, LonPt);*/
} /* else no strata */
*/
else
Tex = 255;
fred = (Tex * CC[0].Red) / 255.;
fgrn = (Tex * CC[0].Grn) / 255.;
fblu = (Tex * CC[0].Blu) / 255.;
fred += CC[3].Red; /* sunshade * PARC_RNDR_COLOR(1, 0); ambient */
fgrn += CC[3].Grn; /* sunshade * PARC_RNDR_COLOR(1, 1); */
fblu += CC[3].Blu; /* sunshade * PARC_RNDR_COLOR(1, 2); */
fred += (PARC_RNDR_COLOR(2, 0) - fred) * fade;
fgrn += (PARC_RNDR_COLOR(2, 1) - fgrn) * fade;
fblu += (PARC_RNDR_COLOR(2, 2) - fblu) * fade;
fred += (PARC_RNDR_COLOR(2, 0) - fred) * fog;
fgrn += (PARC_RNDR_COLOR(2, 1) - fgrn) * fog;
fblu += (PARC_RNDR_COLOR(2, 2) - fblu) * fog;
fred *= redsun;
fgrn *= greensun;
fblu *= bluesun;
if (fred > 255.) fred = 255.;
else if (fred < 0.) fred = 0.;
if (fgrn > 255.) fgrn = 255.;
else if (fgrn < 0.) fgrn = 0.;
if (fblu > 255.) fblu = 255.;
else if (fblu < 0.) fblu = 0.;
if (Mode)
{
if ((unsigned int)bytemap[zip] >= 110)
continue; /* added 9/25/95 */
WtAvg = (unsigned int)bytemap[zip] + sum >= 110 ? 110:
(unsigned int)bytemap[zip] + sum; /* changed 9/25/95 */
sum = WtAvg - bytemap[zip]; /* added 9/25/95 */
colval = (*(bitmap[0] + zip) * (unsigned int)bytemap[zip] + fred * sum)
/ WtAvg;
*(bitmap[0] + zip) = (UBYTE)colval;
colval = (*(bitmap[1] + zip) * (unsigned int)bytemap[zip] + fgrn * sum)
/ WtAvg;
*(bitmap[1] + zip) = (UBYTE)colval;
colval = (*(bitmap[2] + zip) * (unsigned int)bytemap[zip] + fblu * sum)
/ WtAvg;
*(bitmap[2] + zip) = (UBYTE)colval;
} /* if already a value */
else
{
*(bitmap[0] + zip) = (UBYTE)fred;
*(bitmap[1] + zip) = (UBYTE)fgrn;
*(bitmap[2] + zip) = (UBYTE)fblu;
} /* else first value */
} /* if render to bitmaps */
if (QPt < dist)
{
if (render & 0x10)
{
if (render & 0x01)
{
ScreenPixelPlot(win, bitmap, x + drawoffsetX, y + drawoffsetY, zip);
} /* if render to bitmaps */
else
{
NoRGBScreenPixelPlot(win, FloatCol, ColMax, x + drawoffsetX, y + drawoffsetY);
} /* else no bitmaps */
} /* if render to screen */
if (render & 0x100)
{
*(QCmap[0] + zip) = QC.compval1;
*(QCmap[1] + zip) = QC.compval2;
*(QCmap[2] + zip) = QC.compval3;
*(QCcoords[0] + zip) = facelat;
*(QCcoords[1] + zip) = facelong;
} /* if render & 0x100 */
*(zbuf + zip) = QPt;
if (Reflections && ReflectionMap)
ReflectionMap[zip] = Reflections;
if (ElevationMap)
ElevationMap[zip] = ElPt;
if (SlopeMap)
SlopeMap[zip] = EloQY;
} /* if lower QPt value */
bytemap[zip] += sum;
} /* if at least one point */
} /* if QPt */
} /* for x=... */
/**
@brief Markers publication for the visualization of the calibration ressult on rviz
@param[in] clouds ball center acquisitions in all sensors
@param[in] lasers position of the sensors
@return vector<visualization_msgs::Marker>
*/
vector<visualization_msgs::Marker> createTargetMarkers(vector<pcl::PointCloud<pcl::PointXYZ> > clouds, vector<geometry_msgs::Pose> lasers, vector<string> deviceNames,
const vector<double>& RPY, const vector<double>& translation )
{
tf::Transform t_rpy;
tf::Quaternion q;
if (translation.empty() && RPY.empty()) //user does not want to translate/rotate clouds and sensors.
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
q = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation
t_rpy.setRotation( q );
}
else if (translation.empty()) // only rotation given by the user, no translation
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
else // rotation and translation given by the user
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(translation[0]), tfScalar(translation[1]), tfScalar(translation[2])) ); // translation given by the user
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
static Markers marker_list;
int nLasers=lasers.size();
std::cout << "number of lasers: " << nLasers << std::endl;
//Reduce the elements status, ADD to REMOVE and REMOVE to delete
marker_list.decrement();
// Create a colormap
class_colormap colormap("hsv", nLasers, 1, false);
visualization_msgs::Marker marker_centers;
visualization_msgs::Marker marker_lasers[nLasers*5]; // *5 to make space for Y, Z axis and square that represents the laser
marker_centers.header.frame_id = "/my_frame3";
marker_centers.header.stamp = ros::Time::now();
marker_centers.ns = "centers";
marker_centers.id = 0;
marker_centers.action = visualization_msgs::Marker::ADD;
marker_centers.type = visualization_msgs::Marker::SPHERE_LIST;
marker_centers.scale.x = 0.08;
marker_centers.scale.y = 0.08;
marker_centers.scale.z = 0.08;
marker_centers.pose.orientation.x=q[0];
marker_centers.pose.orientation.y=q[1];
marker_centers.pose.orientation.z=q[2];
marker_centers.pose.orientation.w=q[3];
marker_lasers[0].color.a=1;
marker_lasers[0].color.g=1;
marker_lasers[1].color.b=1;
marker_lasers[1].color.a=1;
marker_lasers[2].color.r=1;
marker_lasers[2].color.a=1;
for(int n=0; n<clouds.size(); n++)
{
pcl::PointCloud<pcl::PointXYZ> cloud = clouds[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
for ( int i = 0; i< cloud.points.size(); i++)
{
geometry_msgs::Point pt;
pt.x= cloud.points[i].x;
pt.y= cloud.points[i].y;
pt.z= cloud.points[i].z;
marker_centers.points.push_back(pt);
marker_centers.colors.push_back(color);
} //end for
marker_list.update(marker_centers);
}
//position and orientation of laser
int counter = 0;
for(int n=0; n<lasers.size(); n++)
{
std::cout << "laser "<< n << std::endl;
geometry_msgs::Pose laser = lasers[n];
tf::Transform t_laser;
t_laser.setOrigin( tf::Vector3(laser.position.x, laser.position.y, laser.position.z) );
tf::Quaternion q_laser(laser.orientation.x, laser.orientation.y, laser.orientation.z, laser.orientation.w);
t_laser.setRotation(q_laser);
std::cout << "laser transform" << std::endl;
for (int k=0; k<5; k++)
{
marker_lasers[counter].header.frame_id = "/my_frame3";
marker_lasers[counter].header.stamp = ros::Time::now();
std::stringstream ss;
ss << "Laser " << n << "Marker: " << k;
marker_lasers[counter].ns = ss.str();
marker_lasers[counter].action = visualization_msgs::Marker::ADD;
std_msgs::ColorRGBA color;
if (k<3)
{
marker_lasers[counter].type = visualization_msgs::Marker::ARROW;
marker_lasers[counter].scale.x = 0.5;
marker_lasers[counter].scale.y = 0.05;
marker_lasers[counter].scale.z = 0.05;
color.r = 0;
color.g = 0;
color.b = 0;
color.a = 1;
}
else if (k == 3)
{
marker_lasers[counter].type = visualization_msgs::Marker::CUBE;
marker_lasers[counter].scale.x = 0.15;
marker_lasers[counter].scale.y = 0.15;
marker_lasers[counter].scale.z = 0.15;
}
else
{
marker_lasers[counter].type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker_lasers[counter].text = deviceNames[n];
marker_lasers[counter].scale.x = 0.15;
marker_lasers[counter].scale.y = 0.15;
marker_lasers[counter].scale.z = 0.15;
std::cout << deviceNames[n] << std::endl;
}
tf::Transform t_aux;
tf::Quaternion q_aux;
t_aux.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
switch (k) {
case 0:
{
q_aux = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation->this is the X axis
color.r = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 1:
{
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, M_PI/2 ); // rotation to get Y axis from X
color.g = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 2:
{
q_aux = tf::createQuaternionFromRPY( 0.0, -M_PI/2, 0.0); // rotation to get Z axis from X
color.b = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 3:
{
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, 0.0); // no rotation->this is the square at the axes origin that represents the sensor
color = colormap.color(n);
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
default:
{
std::cout << "text" << std::endl;
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, 0.0); // no rotation->this is the square at the axes origin that represents the sensor
color.r = 1.0;
color.g = 1.0;
color.b = 1.0;
color.a = 1.0;
}
}
t_aux.setRotation( q_aux );
tf::Transform transform_laser = t_rpy * t_laser * t_aux;
tf::Quaternion rotation_laser = transform_laser.getRotation();
tf::Vector3 translation_laser = transform_laser.getOrigin();
std::cout << "Transformation" << std::endl;
std::cout << "translation " << translation_laser[0] << " " << translation_laser[1] << " " << translation_laser[2] << std::endl;
std::cout << "rotation " << rotation_laser[0] << " " << rotation_laser[1] << " " << rotation_laser[2] << " " << rotation_laser[3] << std::endl;
marker_lasers[counter].pose.position.y=translation_laser[1];
if (k!=4)
{
marker_lasers[counter].pose.position.x=translation_laser[0];
marker_lasers[counter].pose.position.z=translation_laser[2];
std::cout << "k!4" << std::endl;
}
else
{
marker_lasers[counter].pose.position.x=translation_laser[0]+0.15;
marker_lasers[counter].pose.position.z=translation_laser[2]+0.25;
std::cout << "text" << std::endl;
}
marker_lasers[counter].pose.orientation.x=rotation_laser[0];
marker_lasers[counter].pose.orientation.y=rotation_laser[1];
marker_lasers[counter].pose.orientation.z=rotation_laser[2];
marker_lasers[counter].pose.orientation.w=rotation_laser[3];
std::cout << "pose" << std::endl;
marker_lasers[counter].color=color;
std::cout << "color" << std::endl;
marker_list.update(marker_lasers[counter]);
std::cout << "update" << std::endl;
counter++;
}
}
std::cout << "clean" << std::endl;
//Remove markers that should not be transmitted
marker_list.clean();
std::cout << "finished" << std::endl;
//Clean the marker_vector and put new markers in it;
return marker_list.getOutgoingMarkers();
} //end function
/**
@brief Markers publication for the visualization of the calibration ressult on rviz
@param[in] clouds ball center acquisitions in all sensors
@param[in] lasers position of the sensors
@return vector<visualization_msgs::Marker>
*/
vector<visualization_msgs::Marker> createTargetMarkers(vector<pcl::PointCloud<pcl::PointXYZ> > clouds, vector<geometry_msgs::Pose> lasers,
const vector<double>& RPY, const vector<double>& translation )
{
tf::Transform t_rpy;
tf::Quaternion q;
if (translation.empty() && RPY.empty()) //user does not want to translate/rotate clouds and sensors.
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
q = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation
t_rpy.setRotation( q );
}
else if (translation.empty()) // only rotation given by the user, no translation
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
else // rotation and translation given by the user
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(translation[0]), tfScalar(translation[1]), tfScalar(translation[2])) ); // translation given by the user
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
static Markers marker_list;
int nLasers=lasers.size();
//Reduce the elements status, ADD to REMOVE and REMOVE to delete
marker_list.decrement();
// Create a colormap
class_colormap colormap("hsv",10, 1, false);
visualization_msgs::Marker marker_centers;
visualization_msgs::Marker marker_lasers[nLasers];
marker_centers.header.frame_id = "/my_frame3";
marker_centers.header.stamp = ros::Time::now();
marker_centers.ns = "centers";
marker_centers.action = visualization_msgs::Marker::ADD;
marker_centers.type = visualization_msgs::Marker::SPHERE_LIST;
marker_centers.scale.x = 0.08;
marker_centers.scale.y = 0.08;
marker_centers.scale.z = 0.08;
marker_centers.pose.orientation.x=q[0];
marker_centers.pose.orientation.y=q[1];
marker_centers.pose.orientation.z=q[2];
marker_centers.pose.orientation.w=q[3];
/*marker_centers.color.b=1;
marker_centers.color.a=1;*/
marker_lasers[0].color.a=1;
marker_lasers[0].color.g=1;
marker_lasers[1].color.b=1;
marker_lasers[1].color.a=1;
marker_lasers[2].color.r=1;
marker_lasers[2].color.a=1;
for(int n=0; n<clouds.size(); n++)
{
{
pcl::PointCloud<pcl::PointXYZ> cloud = clouds[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
for ( int i = 0; i< cloud.points.size(); i++)
{
geometry_msgs::Point pt;
pt.x= cloud.points[i].x;
pt.y= cloud.points[i].y;
pt.z= cloud.points[i].z;
marker_centers.points.push_back(pt);
marker_centers.colors.push_back(color);
} //end for
marker_list.update(marker_centers);
}
}
//position and orientation of laser
for(int n=0; n<lasers.size(); n++)
{
{
marker_lasers[n].header.frame_id = "/my_frame3";
marker_lasers[n].header.stamp = ros::Time::now();
std::stringstream ss;
ss << "Laser " << n;
marker_lasers[n].ns = ss.str();
marker_lasers[n].action = visualization_msgs::Marker::ADD;
marker_lasers[n].type = visualization_msgs::Marker::ARROW;
marker_lasers[n].scale.x = 0.2;
marker_lasers[n].scale.y = 0.1;
marker_lasers[n].scale.z = 0.1;
geometry_msgs::Pose laser = lasers[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
tf::Transform t_laser;
t_laser.setOrigin( tf::Vector3(laser.position.x, laser.position.y, laser.position.z) );
tf::Quaternion q_laser(laser.orientation.x, laser.orientation.y, laser.orientation.z, laser.orientation.w);
t_laser.setRotation(q_laser);
t_laser= t_rpy * t_laser;
q_laser = t_laser.getRotation();
tf::Vector3 trans_laser = t_laser.getOrigin();
marker_lasers[n].pose.position.x=trans_laser[0];
marker_lasers[n].pose.position.y=trans_laser[1];
marker_lasers[n].pose.position.z=trans_laser[2];
marker_lasers[n].pose.orientation.x=q_laser[0];
marker_lasers[n].pose.orientation.y=q_laser[1];
marker_lasers[n].pose.orientation.z=q_laser[2];
marker_lasers[n].pose.orientation.w=q_laser[3];
marker_lasers[n].color=color;
marker_list.update(marker_lasers[n]);
}
}
//Remove markers that should not be transmitted
marker_list.clean();
//Clean the marker_vector and put new markers in it;
return marker_list.getOutgoingMarkers();
} //end function
void
Visualization::draw_pyramid_level_flow(const VisualOdometry* odom, int level_num)
{
const OdometryFrame* ref_frame = odom->getReferenceFrame();
const OdometryFrame* target_frame = odom->getTargetFrame();
const PyramidLevel* ref_level = ref_frame->getLevel(level_num);
const PyramidLevel* target_level = target_frame->getLevel(level_num);
int width = ref_level->getWidth();
int height = ref_level->getHeight();
const MotionEstimator* estimator = odom->getMotionEstimator();
const FeatureMatch* matches = estimator->getMatches();
int num_matches = estimator->getNumMatches();
// current image
bot_lcmgl_color3f(_lcmgl, 1, 1, 1);
const uint8_t* target_gray = target_level->getGrayscaleImage();
int target_gray_stride = target_level->getGrayscaleImageStride();
int gray_texid = bot_lcmgl_texture2d(_lcmgl, target_gray, width, height,
target_gray_stride, BOT_LCMGL_LUMINANCE,
BOT_LCMGL_UNSIGNED_BYTE,
BOT_LCMGL_COMPRESS_NONE);
bot_lcmgl_texture_draw_quad(_lcmgl, gray_texid,
0 , 0 , 0 ,
0 , height , 0 ,
width , height , 0 ,
width , 0 , 0);
float rgb[3];
#if 0
// draw target features
bot_lcmgl_color3f(_lcmgl, 0, 1, 0);
bot_lcmgl_point_size(_lcmgl, 3.0f);
bot_lcmgl_begin(_lcmgl, GL_POINTS);
for(int i=0, nfeatures=target_level->getNumKeypoints(); i<nfeatures; ++i) {
const KeypointData& kpdata(*target_level->getKeypointData(i));
colormap(kpdata.xyz.z(), rgb);
bot_lcmgl_color3f(_lcmgl, rgb[0], rgb[1], rgb[2]);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u, kpdata.kp.v);
}
bot_lcmgl_end(_lcmgl);
#endif
#if 0
// draw 9x9 boxes around keypoints
bot_lcmgl_line_width(_lcmgl, 1.0);
bot_lcmgl_color3f(_lcmgl, .5, .5, 1);
bot_lcmgl_begin(_lcmgl, GL_LINES);
for(int i=0, num_kp=target_level->getNumKeypoints();
i < num_kp;
++i) {
const KeypointData& kpdata(*target_level->getKeypointData(i));
colormap(kpdata.xyz.z(), rgb);
bot_lcmgl_color3f(_lcmgl, rgb[0], rgb[1], rgb[2]);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u-4, kp.v-4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u-4, kp.v+4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u-4, kp.v+4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u+4, kp.v+4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u+4, kp.v+4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u+4, kp.v-4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u+4, kp.v-4);
bot_lcmgl_vertex2f(_lcmgl, kpdata.kp.u-4, kp.v-4);
}
bot_lcmgl_end(_lcmgl);
#endif
#if 1
// draw inliers
bot_lcmgl_point_size(_lcmgl, 4.0f);
bot_lcmgl_begin(_lcmgl, GL_POINTS);
for (int i=0; i<num_matches; i++) {
const FeatureMatch& match = matches[i];
if (!match.inlier ||
match.target_keypoint->pyramid_level != level_num)
continue;
int cur_x = match.target_keypoint->kp.u;
int cur_y = match.target_keypoint->kp.v;
colormap(match.target_keypoint->xyz(2), rgb);
bot_lcmgl_color3f(_lcmgl, rgb[0], rgb[1], rgb[2]);
bot_lcmgl_vertex2f(_lcmgl, cur_x, cur_y);
}
bot_lcmgl_end(_lcmgl);
#endif
#if 1
// draw ref-to-target 'flow'
//bot_lcmgl_color3f(_lcmgl, 0, 1, 0);
bot_lcmgl_line_width(_lcmgl, 2.0f);
bot_lcmgl_begin(_lcmgl, GL_LINES);
for (int i=0; i<num_matches; i++) {
const FeatureMatch& match = matches[i];
if (!match.inlier ||
match.target_keypoint->pyramid_level != level_num)
continue;
int cur_x = match.target_keypoint->kp.u;
int cur_y = match.target_keypoint->kp.v;
int prev_x = match.ref_keypoint->kp.u;
int prev_y = match.ref_keypoint->kp.v;
colormap(match.target_keypoint->xyz(2), rgb);
bot_lcmgl_color3f(_lcmgl, rgb[0], rgb[1], rgb[2]);
bot_lcmgl_vertex2f(_lcmgl, cur_x, cur_y);
bot_lcmgl_vertex2f(_lcmgl, prev_x, prev_y);
}
bot_lcmgl_end(_lcmgl);
#endif
if (level_num == 0) {
//draw the ESM homography estimate
bot_lcmgl_line_width(_lcmgl, 2.0);
bot_lcmgl_color3f(_lcmgl, 1, 1, 0);
bot_lcmgl_begin(_lcmgl, GL_LINE_STRIP);
const Eigen::Matrix3d & H = odom->getInitialHomography();
Eigen::MatrixXd vertices(5, 3);
vertices <<
0 , 0 , 1,
width , 0 , 1,
width , height , 1,
0 , height , 1,
0 , 0 , 1;
Eigen::MatrixXd warpedPoints = H*vertices.transpose();
warpedPoints.row(0) = warpedPoints.row(0).array()/warpedPoints.row(2).array();
warpedPoints.row(1) = warpedPoints.row(1).array()/warpedPoints.row(2).array();
for (int i=0;i<warpedPoints.cols();i++) {
bot_lcmgl_vertex2f(_lcmgl, warpedPoints(0, i) ,warpedPoints(1, i));
}
bot_lcmgl_end(_lcmgl);
}
}
RedirectedXCompositeWindow::RedirectedXCompositeWindow(WebPageProxy& webPage, const IntSize& initialSize, std::function<void()>&& damageNotify)
: m_webPage(webPage)
, m_display(GDK_DISPLAY_XDISPLAY(gdk_window_get_display(gtk_widget_get_parent_window(webPage.viewWidget()))))
, m_size(initialSize)
{
m_size.scale(m_webPage.deviceScaleFactor());
ASSERT(downcast<PlatformDisplayX11>(PlatformDisplay::sharedDisplay()).native() == m_display);
Screen* screen = DefaultScreenOfDisplay(m_display);
GdkVisual* visual = gdk_window_get_visual(gtk_widget_get_parent_window(webPage.viewWidget()));
XUniqueColormap colormap(XCreateColormap(m_display, RootWindowOfScreen(screen), GDK_VISUAL_XVISUAL(visual), AllocNone));
// This is based on code from Chromium: src/content/common/gpu/image_transport_surface_linux.cc
XSetWindowAttributes windowAttributes;
windowAttributes.override_redirect = True;
windowAttributes.colormap = colormap.get();
// CWBorderPixel must be present when the depth doesn't match the parent's one.
// See http://cgit.freedesktop.org/xorg/xserver/tree/dix/window.c?id=xorg-server-1.16.0#n703.
windowAttributes.border_pixel = 0;
m_parentWindow = XCreateWindow(m_display,
RootWindowOfScreen(screen),
WidthOfScreen(screen) + 1, 0, 1, 1,
0,
gdk_visual_get_depth(visual),
InputOutput,
GDK_VISUAL_XVISUAL(visual),
CWOverrideRedirect | CWColormap | CWBorderPixel,
&windowAttributes);
XMapWindow(m_display, m_parentWindow.get());
windowAttributes.event_mask = StructureNotifyMask;
windowAttributes.override_redirect = False;
// Create the window of at last 1x1 since X doesn't allow to create empty windows.
m_window = XCreateWindow(m_display,
m_parentWindow.get(),
0, 0,
std::max(1, m_size.width()),
std::max(1, m_size.height()),
0,
CopyFromParent,
InputOutput,
CopyFromParent,
CWEventMask,
&windowAttributes);
XMapWindow(m_display, m_window.get());
xDamageNotifier().add(m_window.get(), WTFMove(damageNotify));
while (1) {
XEvent event;
XWindowEvent(m_display, m_window.get(), StructureNotifyMask, &event);
if (event.type == MapNotify && event.xmap.window == m_window.get())
break;
}
XSelectInput(m_display, m_window.get(), NoEventMask);
XCompositeRedirectWindow(m_display, m_window.get(), CompositeRedirectManual);
if (!m_size.isEmpty())
createNewPixampAndPixampSurface();
m_damage = XDamageCreate(m_display, m_window.get(), XDamageReportNonEmpty);
}
void PltWin::drawIt(QPainter *p)
{
QString txt;
double x, y, x0, y0, x1, y1, x2, y2, xprev, yprev, shift, ubmin, ubmax, ub, alpha;
int n, layer, lay, prev_layer, circDia, i, j, at, ichain, a, istart, iend, icurr, xs, ys;
int idx, nmax;
bool dum;
QPen *pen = new QPen();
QBrush *brush = new QBrush();
QBrush *brush_unrld = new QBrush();
// antialiasing of primitives if ANTIALIASE is set to true
if (!paintEPS) p->setRenderHint(QPainter::Antialiasing, ANTIALIASE);
// plot the grain boundary line
if (isGBfile && showGB) {
x0 = ZFact*xyzMin(1) - xPan - (ZFact-1)*xyzCen(1);
x1 = ZFact*xyzMax(1) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*gbYcoor - yPan - (ZFact-1)*xyzCen(2);
DrawLine(p, x0, y, x1, y);
}
if (AtomPos==COMPOSITE) {
if (!paintEPS) {
brush_unrld->setColor( Qt::lightGray );
brush_unrld->setStyle( Qt::SolidPattern );
}
}
// plotting of atomic arrangement in the initial configuration
prev_layer = -1;
x0 = y0 = x1 = y1 = 0;
// need to construct the neighbor list in the relaxed configuration
if (plotType == PLOT_ATOM_NEIGHBORS) {
if (AtomPos == UNRELAXED && NeighListInit.data == NULL)
InitNeighborList(this, NeighListInit, numNeighInit);
if ((AtomPos == RELAXED || AtomPos == COMPOSITE) && NeighListRel.data == NULL)
RelNeighborList(this, rcut, NeighListRel, numNeighRel);
if (AtomPos == UNRELAXED) {
nmax = -1;
for (at=1; at<=NInit; at++) {
n = numNeighInit(at);
if (n > nmax) nmax = n;
}
colormap(nmax+1, cmap);
}
if (AtomPos == RELAXED) {
nmax = -1;
for (at=1; at<=NRel; at++) {
n = numNeighRel(at);
if (n > nmax) nmax = n;
}
colormap(nmax+1, cmap);
}
}
if (plotType == PLOT_ATOM_TYPES) {
nmax = -1;
for (at=1; at<=NInit; at++) {
n = atomType(at);
if (n > nmax) nmax = n;
}
colormap(nmax, cmap);
}
//
// Plot the atomic configuration such that the atoms in the front (in the top layer) are plotted
// at the end.
//
for (i=1; i<=NInit; i++) {
at = aorder(i);
if (!zLayerSel(zLayer(at)))
continue;
layer = zLayer(at);
circDia = zDiamLayer(layer);
switch(plotType) {
case PLOT_ATOM_LAYERS:
layer = zLayer(at);
if (!paintEPS && layer != prev_layer) {
pen->setColor(zColorLayer(layer, 1));
pen->setWidth(zLineThickLayer(layer));
p->setPen(*pen);
brush->setColor(zColorLayer(layer, 2));
brush->setStyle(Qt::SolidPattern);
p->setBrush(*brush);
}
break;
case PLOT_ATOM_TYPES:
lay = layer;
layer = atomType(at);
if (!paintEPS && layer != prev_layer) {
pen->setColor(Qt::black);
pen->setWidth(zLineThickLayer(lay));
p->setPen(*pen);
if (layer == 0) {
brush->setColor(Qt::lightGray);
} else {
brush->setColor(cmap[layer-1]);
}
brush->setStyle(Qt::SolidPattern);
p->setBrush(*brush);
}
break;
case PLOT_ATOM_NEIGHBORS:
lay = layer;
if (AtomPos == UNRELAXED)
layer = numNeighInit(at);
else if (AtomPos == RELAXED || AtomPos == COMPOSITE)
layer = numNeighRel(at);
if (!paintEPS && layer != prev_layer) {
pen->setColor(Qt::black);
pen->setWidth(zLineThickLayer(lay));
p->setPen(*pen);
if (layer == 0)
brush->setColor(Qt::lightGray);
else {
brush->setColor(QColor(cmap[layer]));
}
brush->setStyle(Qt::SolidPattern);
p->setBrush(*brush);
}
break;
}
if (layer != prev_layer) prev_layer = layer;
switch(AtomPos) {
case UNRELAXED:
x = ZFact*xyzInit(at,1) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*xyzInit(at,2) - yPan - (ZFact-1)*xyzCen(2);
DrawAtom(p, at, x, y, circDia);
break;
case RELAXED:
x = ZFact*(xyzInit(at,1) + AtomDispScale*aDisp(at,1)) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*(xyzInit(at,2) + AtomDispScale*aDisp(at,2)) - yPan - (ZFact-1)*xyzCen(2);
DrawAtom(p, at, x, y, circDia);
break;
case COMPOSITE:
if (!paintEPS) { p->setBrush( *brush_unrld ); }
x = ZFact*xyzInit(at,1) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*xyzInit(at,2) - yPan - (ZFact-1)*xyzCen(2);
DrawAtom(p, -1, x, y, circDia);
if (!paintEPS) { p->setBrush( *brush ); }
x = ZFact*(xyzInit(at,1) + AtomDispScale*aDisp(at,1)) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*(xyzInit(at,2) + AtomDispScale*aDisp(at,2)) - yPan - (ZFact-1)*xyzCen(2);
DrawAtom(p, at, x, y, circDia);
break;
}
if (x < x0) x0 = x;
if (x > x1) x1 = x;
if (y < y0) y0 = y;
if (y > y1) y1 = y;
// atom numbers
if (AtomNumbers) {
txt.sprintf("%d", at);
shift = circDia/(2.0*factor);
DrawText(p, x+shift, y+shift, txt);
}
}
// plot the inert atoms
if (InertAtoms) {
if (!paintEPS) {
pen->setColor(Qt::black);
pen->setWidth(zLineThickLayer(layer));
p->setPen(*pen);
brush->setColor(Qt::black);
brush->setStyle(Qt::NoBrush);
p->setBrush( *brush );
}
for (at=1; at<=NInert; at++) {
// plot only those atoms which belong to the selected (active) layers
// if (!zLayerSel(zLayer(n)))
// continue;
x = ZFact*xyzInert(at,1) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*xyzInert(at,2) - yPan - (ZFact-1)*xyzCen(2);
DrawAtom(p, 0, x, y, circDia);
}
}
// highlight the atoms picked
if (!paintEPS && napicked > 0) {
pen->setColor(Qt::green);
pen->setWidth(2);
p->setPen(*pen);
brush->setStyle(Qt::NoBrush);
p->setBrush(*brush);
dum = ATOM_3DSPHERE;
ATOM_3DSPHERE = false;
for (n=1; n<=napicked; n++) {
at = apicked(n);
x = ZFact*xyzInit(at,1) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*xyzInit(at,2) - yPan - (ZFact-1)*xyzCen(2);
DrawAtom(p, at, x, y, circDia+4);
if (n > 1) DrawLine(p, xprev, yprev, x, y);
xprev = x;
yprev = y;
}
ATOM_3DSPHERE = dum;
}
// highlight the atoms in selected chains
if (!paintEPS && nchain > 0) {
pen->setColor(Qt::green);
pen->setWidth(2);
p->setPen(*pen);
for (ichain=1; ichain<=nchain; ichain++) {
for (i=1; i<=nachain(ichain); i++) {
a = achain(ichain,i);
x = ZFact*xyzInit(a,1) - xPan - (ZFact-1)*xyzCen(1);
y = ZFact*xyzInit(a,2) - yPan - (ZFact-1)*xyzCen(2);
if (i>1) DrawLine(p, x0, y0, x, y);
x0 = x;
y0 = y;
}
}
if (!paintEPS && nchain >= 2) {
QPen *pen2 = new QPen();
pen2->setColor(Qt::green);
pen2->setStyle(Qt::DashLine);
p->setPen(*pen2);
for (i=1; i<nchain; i+=2) {
x1 = ZFact*dposchain(i,1) - xPan - (ZFact-1)*xyzCen(1);
y1 = ZFact*dposchain(i,2) - yPan - (ZFact-1)*xyzCen(2);
x2 = ZFact*dposchain(i+1,1) - xPan - (ZFact-1)*xyzCen(1);
y2 = ZFact*dposchain(i+1,2) - yPan - (ZFact-1)*xyzCen(2);
DrawLine(p, x1, y1, x2, y2);
}
}
}
// plotting the coordinate system centered at the initial position of
// the dislocation line
if (PlaneTraces) DrawPlaneTraces(p, x0, y0, x1, y1);
// plotting of arrows
if (arrNeighNum > 0) {
if (!paintEPS) {
pen->setColor(Qt::black);
pen->setWidth(thicknessArrow);
p->setPen(*pen);
p->setBrush(Qt::black);
}
switch(DispComponent) {
case EDGE:
plotEdgeComponent(p);
break;
case SCREW:
plotScrewComponent(p);
break;
case PROJ:
plotScrewComponent(p); // plotted the same way as screw components
break;
case DIFF_EDGE:
case DIFF_SCREW:
plotDifference(p);
break;
}
}
// position of dislocation center
if (DisloCenter) {
DrawLine(p, xCore, y0, xCore, y1);
DrawLine(p, x0, yCore, x1, yCore);
}
// small inset to show the active Z-layers
if (!paintEPS && showZLayers)
ShowActiveZLayers(p);
// show color map
if (!paintEPS && (plotType == PLOT_ATOM_TYPES || plotType == PLOT_ATOM_NEIGHBORS))
ShowColorMap(p);
// lines showing the division of the block into cells (for the linked neighbor list)
if (showNeighCells) {
if (!paintEPS) {
pen->setColor(Qt::black);
p->setPen(*pen);
}
for (i=0; i<=ncell(1); i++) {
x = ZFact*(xyzMin(1)+i*cellsize(1)) - xPan - (ZFact-1)*xyzCen(1);
y0 = ZFact*xyzMin(2) - yPan - (ZFact-1)*xyzCen(2);
y1 = ZFact*xyzMax(2) - yPan - (ZFact-1)*xyzCen(2);
DrawLine(p, x, y0, x, y1);
for (j=0; j<=ncell(2); j++) {
y = ZFact*(xyzMin(2)+j*cellsize(2)) - yPan - (ZFact-1)*xyzCen(2);
x0 = ZFact*xyzMin(1) - xPan - (ZFact-1)*xyzCen(1);
x1 = ZFact*xyzMax(1) - xPan - (ZFact-1)*xyzCen(1);
DrawLine(p, x0, y, x1, y);
}
}
}
// coordinate system of the block
if (!paintEPS && showCSys)
ShowCSys(p);
// show the polygon that encompasses the dislocation center
if (!paintEPS && ndpoly > 0) {
pen->setColor(Qt::green);
p->setPen(*pen);
for (n=1; n<=ndpoly; n++) {
x1 = ZFact*dpoly(n,1) - xPan - (ZFact-1)*xyzCen(1);
y1 = ZFact*dpoly(n,2) - yPan - (ZFact-1)*xyzCen(2);
if (n<ndpoly) {
x2 = ZFact*dpoly(n+1,1) - xPan - (ZFact-1)*xyzCen(1);
y2 = ZFact*dpoly(n+1,2) - yPan - (ZFact-1)*xyzCen(2);
} else {
x2 = ZFact*dpoly(1,1) - xPan - (ZFact-1)*xyzCen(1);
y2 = ZFact*dpoly(1,2) - yPan - (ZFact-1)*xyzCen(2);
}
DrawLine(p, x1, y1, x2, y2);
}
}
if (!paintEPS && ndpath > 0) {
pen->setColor(Qt::green);
p->setPen(*pen);
brush->setColor(Qt::green);
brush->setStyle(Qt::NoBrush);
p->setBrush(*brush);
for (n=1; n<ndpath; n++) {
x1 = ZFact*dpath(n,1) - xPan - (ZFact-1)*xyzCen(1);
y1 = ZFact*dpath(n,2) - yPan - (ZFact-1)*xyzCen(2);
x2 = ZFact*dpath(n+1,1) - xPan - (ZFact-1)*xyzCen(1);
y2 = ZFact*dpath(n+1,2) - yPan - (ZFact-1)*xyzCen(2);
DrawLine(p, x1, y1, x2, y2);
if (n==1) {
xyWorldToScreen(x1, y1, xs, ys);
xs -= 2;
ys -= 2;
p->drawEllipse(xs, ys, 4, 4);
}
xyWorldToScreen(x2, y2, xs, ys);
xs -= 2;
ys -= 2;
p->drawEllipse(xs, ys, 4, 4);
}
}
}
void CreateMarkers(vector<visualization_msgs::Marker>& marker_vector,mtt::TargetList& target_msg,vector<t_listPtr>& list)
{
static map<pair<string,int>, pair<visualization_msgs::Marker,int> > marker_map;
map<pair<string,int>, pair<visualization_msgs::Marker,int> >::iterator it;
//limpar o vector todo
marker_vector.clear();
//colocar todos os elementos em processo de elemincação
for(it=marker_map.begin(); it!=marker_map.end(); it++)
it->second.second--;
std_msgs::ColorRGBA color;
class_colormap colormap("hsv",10, 1, false);
visualization_msgs::Marker marker;
marker.header.frame_id = pointData.header.frame_id;//target_msg.header.frame_id;
// cout<<"fid:"<<target_msg.header.frame_id<<endl;
marker.header.stamp = ros::Time::now();
marker.ns = "ids";
marker.action = visualization_msgs::Marker::ADD;
marker.pose.position.z=0.3;
marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker.scale.x = 0.2;
marker.scale.y = 0.2;
marker.scale.z = 0.2;
marker.color.r=0;
marker.color.g=0;
marker.color.b=0;
marker.color.a=1;
marker.id=0;
for(uint i=0; i<list.size(); i++)
{
if(list[i]->shape.lines.size()!=0)
{
marker.pose.position.x=list[i]->position.estimated_x;
marker.pose.position.y=list[i]->position.estimated_y;
marker.text = boost::lexical_cast<string>(list[i]->id);
marker.id++;
marker_map[make_pair(marker.ns,marker.id) ] = make_pair(marker,1);//isto substitui ou cria o novo marker no map
}
}
marker.pose.position.x=0;
marker.pose.position.y=0;
marker.text = "origin";
marker.id++;
marker_map[make_pair(marker.ns,marker.id) ] = make_pair(marker,1);//isto substitui ou cria o novo marker no map
// Markers for Line objects
marker.type = visualization_msgs::Marker::LINE_STRIP;
marker.ns = "objects";
marker.pose.position.x=0;
marker.pose.position.y=0;
marker.pose.position.z=0;
marker.scale.x = 0.02;
marker.scale.y = 0.1;
marker.scale.z = 0.1;
for(uint i=0; i<list.size(); i++)
{
marker.color = colormap.color(list[i]->id);
geometry_msgs::Point p;
p.z = 0.1;
marker.points.clear();
uint l;
for(l=0; l<list[i]->shape.lines.size(); l++)
{
p.x = list[i]->shape.lines[l]->xi;
p.y = list[i]->shape.lines[l]->yi;
marker.points.push_back(p);
}
p.x = list[i]->shape.lines[l-1]->xf;
p.y = list[i]->shape.lines[l-1]->yf;
marker.points.push_back(p);
marker.id++;
marker_map[make_pair(marker.ns,marker.id) ] = make_pair(marker,1);//isto substitui ou cria o novo marker no map
}
//para o map todo envio tudo, e meto tudo a false
//envio todo e tudo o que ainda estiver a false vai com operaração de delete
for(it=marker_map.begin(); it!=marker_map.end(); it++)
{
if( it->second.second==0 )//se for falso é para apagar
it->second.first.action = visualization_msgs::Marker::DELETE;
else if(it->second.second<=-1)//já foi apagado
{
/**
\todo This should be erased but it is not working now
marker_map.erase(it);
*/
continue;
}
marker_vector.push_back(it->second.first);
}
}
int initvolluts()
{
#ifdef MPI
int comsize, rank;
int indx;
int *rhsizes;
int *globalhist;
int *roffsets;
int *rhists = NULL;
float *rminvalues;
float *rmaxvalues;
#endif
int *hist = NULL;
int hsize;
float minvalue, maxvalue;
/////////////////////////////// compute global color table ///////////////////////////////////////
// compute local histogram and create a colormap from all local histograms
hsize = histogram(&hist, volume.data.f, &minvalue, &maxvalue, volume.localdims.w, volume.localdims.h, volume.localdims.d);
// broadcast hist, minvalue, maxvalue
#ifdef MPI
// MPI_Comm_size(comm, &comsize);
// MPI_Comm_rank(comm, &rank);
MPI_Comm_size(MPI_COMM_WORLD, &comsize);
MPI_Comm_rank(MPI_COMM_WORLD, &rank);
rminvalues = (float *) malloc(sizeof(float) * comsize);
rmaxvalues = (float *) malloc(sizeof(float) * comsize);
assert (rminvalues != NULL && rmaxvalues != NULL);
rhsizes = (int *) malloc(sizeof(int) * comsize);
assert (rhsizes != NULL);
// allgatherv parameters
roffsets = (int *) malloc(sizeof(int) * comsize);
assert (roffsets != NULL);
//MPI_Allgather( &minvalue, 1, MPI_FLOAT, rminvalues, 1, MPI_FLOAT, comm);
MPI_Allgather( &minvalue, 1, MPI_FLOAT, rminvalues, 1, MPI_FLOAT, MPI_COMM_WORLD);
//MPI_Allgather( &maxvalue, 1, MPI_FLOAT, rmaxvalues, 1, MPI_FLOAT, comm);
MPI_Allgather( &maxvalue, 1, MPI_FLOAT, rmaxvalues, 1, MPI_FLOAT, MPI_COMM_WORLD);
//MPI_Allgather( &hsize, 1, MPI_INT, rhsizes, 1, MPI_INT, comm);
MPI_Allgather( &hsize, 1, MPI_INT, rhsizes, 1, MPI_INT, MPI_COMM_WORLD);
int d = 0;
for (int i=0; i<comsize; i++) {
roffsets[i] = d;
d += rhsizes[i];
}
rhists = (int *) malloc(sizeof(int) * d);
assert (rhists != NULL);
//MPI_Allgatherv(hist, hsize, MPI_INT, rhists, rhsizes, roffsets, MPI_INT, comm);
MPI_Allgatherv(hist, hsize, MPI_INT, rhists, rhsizes, roffsets, MPI_INT, MPI_COMM_WORLD);
float tmpmin = MAXFLOAT;
float tmpmax = -MAXFLOAT;
for (int i=0; i<comsize; i++) {
minvalue = fmin(tmpmin, rminvalues[i]);
maxvalue = fmax(tmpmax, rmaxvalues[i]);
tmpmin = minvalue;
tmpmax = maxvalue;
}
PRINTDEBUG("%3d: MINMAX- %f, %f\n", rank, minvalue, maxvalue);
hsize = (int) ((maxvalue - minvalue) + 1);
globalhist = (int *) malloc(sizeof(int) * hsize);
assert(globalhist != NULL);
for (int j=0; j<hsize; j++) globalhist[j] = 0;
int rindx;
for (int i=0; i<comsize; i++) {
rindx = roffsets[i]; // get offset into individual histogram arrays
indx = rminvalues[i] - minvalue;
for (int j=0; j<rhsizes[i]; j++) {
globalhist[indx+j] += rhists[rindx+j];
}
}
lut = (color4f *) malloc(hsize * sizeof(color4f));
maxlutindx = hsize - 1;
assert (lut != NULL);
colormap(lut, globalhist, hsize, minvalue, maxvalue);
// free all the temp stuff
free(rminvalues);
free(rmaxvalues);
free(rhsizes);
free(rhists);
free(roffsets);
free(globalhist);
#else
lut = (color4f *) malloc(hsize * sizeof(color4f));
assert (lut != NULL);
colormap(lut, hist, hsize, minvalue, maxvalue);
#endif
lutoffset = (int) (minvalue + 0.5);
#ifdef GRAD
/////////////////////////////// compute subvolume gradient //////////////////////////////////////
// local gradients are sufficient, i.e. a subvol does not need gradient values from another subvol
// compute gradient and store with rest of volume data
int n = volume.localdims.w;
int m = volume.localdims.h;
int p = volume.localdims.d;
long long localsize = n * m * p;
// allocate gradient storage
volume.gradient = (vector4f *) malloc(localsize * sizeof(vector4f));
assert (volume.gradient != NULL);
// local gradients are sufficient, i.e. a subvol does not need gradient values from another subvol
gradient3d(volume.gradient, volume.data.f, n, m, p);
#endif
free(hist);
return 0;
}
