std::ostream& Fixpoint::printTo(std::ostream& out, const Indent& indent) const {
out << indent << "Fixpoint - max iterations: " << maxIterations << " - accepting approximation: " << ((acceptNonFixpoint) ? "true" : "false") << "\n";
return getTransformation()->printTo(out, indent + 1);
}
void PatternLayer::draw(Graphics* const TheGraphics, const Pnt2f& TopLeft, const Pnt2f& BottomRight, const Real32 Opacity) const
{
glPushAttrib(GL_ENABLE_BIT | GL_TRANSFORM_BIT);
GLdouble Plane0[4], Plane1[4], Plane2[4], Plane3[4];
glGetClipPlane(GL_CLIP_PLANE0, Plane0);
glGetClipPlane(GL_CLIP_PLANE1, Plane1);
glGetClipPlane(GL_CLIP_PLANE2, Plane2);
glGetClipPlane(GL_CLIP_PLANE3, Plane3);
glEnable(GL_CLIP_PLANE0);
glEnable(GL_CLIP_PLANE1);
glEnable(GL_CLIP_PLANE2);
glEnable(GL_CLIP_PLANE3);
// The clipping plane for the background must get set to inside the
// border of the component. It was the outside of the component,
// so it has to be reset to the stored values from above at the end.
Vec4d LeftPlaneEquation(1.0,0.0,0.0,-TopLeft.x()),
RightPlaneEquation(-1.0,0.0,0.0,BottomRight.x()),
TopPlaneEquation(0.0,1.0,0.0,-TopLeft.y()),
BottomPlaneEquation(0.0,-1.0,0.0,BottomRight.y());
glClipPlane(GL_CLIP_PLANE0,LeftPlaneEquation.getValues());
glClipPlane(GL_CLIP_PLANE1,RightPlaneEquation.getValues());
glClipPlane(GL_CLIP_PLANE2,TopPlaneEquation.getValues());
glClipPlane(GL_CLIP_PLANE3,BottomPlaneEquation.getValues());
//Activate the Texture Transformation
if(getTransformation() != NULL)
{
getTransformation()->activate(TheGraphics->getDrawEnv());
}
Vec2f BackgroundSize (BottomRight - TopLeft);
Vec2f TopLeftTexCoords(0.0f,0.0f);
Vec2f BottomRightTexCoords(1.0f,1.0f);
Real32 RepeatHorizontal;
switch(getHorizontalRepeat())
{
case PATTERN_REPEAT_ABSOLUTE:
RepeatHorizontal = getHorizontalRepeatValue();
break;
case PATTERN_REPEAT_BY_POINT:
default:
RepeatHorizontal = static_cast<Real32>(BottomRight.x() - TopLeft.x())/static_cast<Real32>(getCorrectedPatternSize().x());
break;
}
TopLeftTexCoords[0] = -getHorizontalAlignment() * (RepeatHorizontal -1.0f);
BottomRightTexCoords[0] = TopLeftTexCoords[0] + RepeatHorizontal;
Real32 RepeatVertical;
switch(getVerticalRepeat())
{
case PATTERN_REPEAT_ABSOLUTE:
RepeatVertical = getVerticalRepeatValue();
break;
case PATTERN_REPEAT_BY_POINT:
default:
RepeatVertical = static_cast<Real32>(BottomRight.y() - TopLeft.y())/static_cast<Real32>(getCorrectedPatternSize().y());
break;
}
TopLeftTexCoords[1] = -getVerticalAlignment() * (RepeatVertical - 1.0f);
BottomRightTexCoords[1] = TopLeftTexCoords[1] + RepeatVertical;
TheGraphics->drawQuad(TopLeft, Pnt2f(BottomRight.x(), TopLeft.y()),BottomRight, Pnt2f(TopLeft.x(), BottomRight.y()),
TopLeftTexCoords, Vec2f(BottomRightTexCoords.x(), TopLeftTexCoords.y()), BottomRightTexCoords, Vec2f(TopLeftTexCoords.x(), BottomRightTexCoords.y()),
getColor(), getTexture(), Opacity);
//Deactivate the Texture Transformation
if(getTransformation() != NULL)
{
getTransformation()->deactivate(TheGraphics->getDrawEnv());
}
glPopAttrib();
}
/// @return SpotLight's data structured for GPU use.
inline GPUData getGPUData() const { return GPUData{glm::vec4(getTransformation().getPosition(), _range),
glm::vec4(glm::vec3(getColor()), 0.0),
getBiasedMatrix()}; }
void Pan::draw(Shader *shader)
{
sf::Texture::bind(_texture);
shader->setUniform("gColor", glm::vec4(1));
_geometry->draw(shader, getTransformation(), GL_TRIANGLES);
}
void Skybox::draw(gdl::AShader &shader, gdl::Clock const &clock)
{
(void)clock;
_texture->bind();
_geometry.draw(shader, getTransformation(), GL_QUADS);
}
void MeshBuilder::transform(const Geometry::Matrix4x4 & m) {
setTransformation(getTransformation() * m);
}
void GameBackground::draw(gdl::AShader& shader, const gdl::Clock& clock)
{
(void)clock;
_texture.bind();
_geometry.draw(shader, getTransformation(), GL_QUADS);
}
aiMatrix4x4 repo::core::RepoNodeMesh::getTransformation() const
{
return getTransformation(this);
}
aiMatrix4x4 repo::core::RepoNodeMesh::getBoundingBoxTransformation() const
{
return getTransformation() * boundingBox.getTranslationMatrix();
}
//! Sets the final world matrix used in the render system.
inline void setupTransformation(bool isGlobal)
{
FinalWorldMatrix_ = getTransformation(isGlobal).getMatrix();
}
inline dim::matrix4f getTransformMatrix(bool isGlobal = false) const
{
return getTransformation(isGlobal).getMatrix();
}
void IA::draw(gdl::AShader &shader, gdl::Clock const& clock)
{
this->_ia.draw(shader, getTransformation(), clock.getElapsed());
}
void Egg::draw(gdl::AShader& shader, gdl::Clock const & clock)
{
_model->draw(shader, getTransformation(), clock.getElapsed());
}
void Bomb::draw(gdl::AShader &shader, int x, int y)
{
_position = glm::vec3(x, y, 0);
_texture.bind();
_geometry.draw(shader, getTransformation(), GL_QUADS);
}
std::ostream& ForEach::printTo(std::ostream& out, const Indent& indent) const {
out << indent << "For " << filter << " in " << ((preorder) ? "preorder" : "postorder") << " within " << maxDepth << " levels do\n";
return getTransformation()->printTo(out, indent + 1);
}
bool Features::featuresBasedTransform(IplImage* object, IplImage* image, IplImage* img1, IplImage* img2, QTransform &transform)
{
CvMemStorage* storage = cvCreateMemStorage(0);
//Búsqueda de features para ambas imágenes.
CvSeq *objectKeypoints = 0, *objectDescriptors = 0;
CvSeq *imageKeypoints = 0, *imageDescriptors = 0;
CvSURFParams params = cvSURFParams(500, 1);
double tt = (double)cvGetTickCount();
cvExtractSURF( object, 0, &objectKeypoints, &objectDescriptors, storage, params );
cvExtractSURF( image, 0, &imageKeypoints, &imageDescriptors, storage, params );
tt = (double)cvGetTickCount() - tt;
if(VERBOSE){
qDebug() << "Features hallados en la imagen 1:" << objectDescriptors->total;
qDebug() << "Features hallados en la imagen 2:" << imageDescriptors->total;
qDebug() << "Tiempo de extraccion:" << tt/(cvGetTickFrequency()*1000.) << "ms." << endl;
}
//En caso de ser insuficiente la cantidad de features para alguna de las imágenes, se retorna sin resultado.
if(objectKeypoints->total < MINPAIRS || imageKeypoints->total < MINPAIRS){
if(VERBOSE)
qDebug() << "La cantidad de features encontrados es insuficiente para calcular una transformacion." << endl;
cvReleaseMemStorage(&storage);
return false;
}
//Busqueda de correspondencia entre puntos característicos (features).
vector<int> ptpairs;
#ifdef USE_FLANN
Features::flannFindPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
#else
Features::findPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
#endif
//Utils::printPairsInfo(objectKeypoints, imageKeypoints, ptpairs);
/**************************************************************************************************************/
Features::filterByDirection(objectKeypoints, imageKeypoints, ptpairs);
/**************************************************************************************************************/
//En caso de ser insuficiente la cantidad de puntos de correspondencia, se retorna sin resultado.
if(VERBOSE)
qDebug() << "Cantidad de puntos de correspondencia:" << (int)(ptpairs.size()/2) << endl;
if(ptpairs.size()/2 < MINPAIRS){
if(VERBOSE)
qDebug() << "La cantidad de puntos de correspondencia entre las imagenes es insuficiente para calcular una transformacion." << endl;
cvReleaseMemStorage(&storage);
return false;
}
//Búsqueda de los triángulos que determinarán la transformación a realizar.
vector<int> objTri, imgTri, objSize;
objTri.reserve(3);
imgTri.reserve(3);
objSize.push_back(object->width);
objSize.push_back(object->height);
bool goodTriangle = Features::findGoodTriangles(objectKeypoints, imageKeypoints, ptpairs, objSize, objTri, imgTri);
//En caso de no hallarse los triángulos de manera satisfactoria, se retorna sin resultado.
if(!goodTriangle){
if(VERBOSE)
qDebug() << "Los triangulos de correspondencia hallados no permiten realizar una transformacion correcta." << endl;
cvReleaseMemStorage(&storage);
return false;
}
//Se procede a calcular la transformación.
transform = getTransformation(objectKeypoints, imageKeypoints, objTri, imgTri);
//EIGENVALUES**************************************************************************************************************
//Features::checkEigenvalues(QTransform(0.0, 1.5, -1.0, 1.5, 1.0, 0.0, -1.0, 0.0, 1.0));
if(!Features::checkEigenvalues(transform)){
if(VERBOSE)
qDebug() << "Los triangulos de correspondencia hallados no permiten realizar una transformacion correcta." << endl;
cvReleaseMemStorage(&storage);
return false;
}
if(GRAPHIC){
IplImage* result = Utils::drawResultImage(img1, img2, objectKeypoints, imageKeypoints, objTri, imgTri, ptpairs);
cvNamedWindow("Imagen de correspondencia", 1);
cvMoveWindow("Imagen de correspondencia", 100, 100);
cvShowImage("Imagen de correspondencia", result);
cvWaitKey(0);
cvDestroyAllWindows();
cvReleaseImage(&result);
}
cvReleaseMemStorage(&storage);
return true;
}
void QEmitterNode::addRepresentation()
{
m_matResource = h3dAddResource(H3DResTypes::Material, qPrintable(m_xmlNode.attribute("material")), 0);
// Load resource immediately since a later call to loadResourceFromDisk results in a bad behaviour of the Horde3D engine
QString resourceName = h3dutGetResourcePath(H3DResTypes::Material);
if( !resourceName.isEmpty() && !resourceName.endsWith('/') && !resourceName.endsWith('\\') )
resourceName += '/';
resourceName += m_xmlNode.attribute("material");
QFile matFile(QFileInfo(resourceName).absoluteFilePath());
if (!matFile.open(QIODevice::ReadOnly))
qWarning("Error opening resource %s", qPrintable(m_xmlNode.attribute("material")));
// Stupid return value, if false it can also be the case that the resource was loaded before instead of that their was an error
h3dLoadResource(m_matResource, matFile.readAll().append('\0').constData(), matFile.size() + 1);
matFile.close();
m_effectResource = h3dAddResource(H3DResTypes::ParticleEffect, qPrintable(m_xmlNode.attribute("particleEffect")), 0);
// Load resource immediately since a later call to loadResourceFromDisk results in a bad behaviour of the Horde3D engine
resourceName = h3dutGetResourcePath(H3DResTypes::ParticleEffect);
if (!resourceName.isEmpty() && !resourceName.endsWith('/') && !resourceName.endsWith('\\'))
resourceName += '/';
resourceName += m_xmlNode.attribute("particleEffect");
QFile effectFile(QFileInfo(resourceName).absoluteFilePath());
if (!effectFile.open(QIODevice::ReadOnly))
qWarning("Error opening resource %s", qPrintable(m_xmlNode.attribute("particleEffect")));
// Stupid return value, if false it can also be the case that the resource was loaded before instead of that their was an error
h3dLoadResource(m_effectResource, effectFile.readAll().append('\0').constData(), effectFile.size()+1);
effectFile.close();
QSceneNode* parentNode = static_cast<QSceneNode*>(parent());
unsigned int rootID = parentNode ? parentNode->hordeId() : H3DRootNode;
m_hordeID = h3dAddEmitterNode(
rootID,
qPrintable(m_xmlNode.attribute("name", "ATTENTION No Node Name")),
m_matResource,
m_effectResource,
m_xmlNode.attribute("maxCount").toUInt(),
m_xmlNode.attribute("respawnCount").toInt()
);
h3dSetNodeParamF(m_hordeID, H3DEmitter::ForceF3, 0, m_xmlNode.attribute("forceX", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::ForceF3, 1, m_xmlNode.attribute("forceY", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::ForceF3, 2, m_xmlNode.attribute("forceZ", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::DelayF, 0, m_xmlNode.attribute("delay", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::SpreadAngleF, 0, m_xmlNode.attribute("spreadAngle", "0.0").toFloat());
h3dSetNodeParamF(m_hordeID, H3DEmitter::EmissionRateF, 0, m_xmlNode.attribute("emissionRate", "0.0").toFloat());
// load transformation from file...
float x, y, z, rx, ry, rz, sx, sy, sz;
getTransformation(x,y,z,rx,ry,rz,sx,sy,sz);
// ...and update scene representation
h3dSetNodeTransform(m_hordeID, x, y, z, rx, ry, rz, sx, sy, sz);
// Attachment
QDomElement attachment = m_xmlNode.firstChildElement("Attachment");
SceneTreeModel* model = static_cast<SceneTreeModel*>(m_model);
AttachmentPlugIn* plugIn = model->nodeFactory()->attachmentPlugIn();
if (!attachment.isNull() && plugIn != 0)
plugIn->initNodeAttachment(this);
startTimer(100);
}
void animatedVertex::draw(gdl::AShader &shader, gdl::Clock const& clock) {
_model.draw(shader, getTransformation(), clock.getElapsed());
}
void Cube::draw(gdl::AShader &s, gdl::Clock const &)
{
this->texture->bind();
this->geometry->draw(s, getTransformation(), GL_QUADS);
}
inline void Egg::draw(gdl::AShader &shader)
{
this->_model.draw(shader, getTransformation(), GL_TRIANGLES);
}
void Button::draw(gdl::AShader &shader, gdl::Clock const &clock)
{
static_cast<void>(clock);
_texture.bind();
_geometry.draw(shader, getTransformation(), GL_QUADS);
}
void BombLvlBonus::draw(gdl::AShader& shader, gdl::Clock const&)
{
_texture.bind();
_geometry.draw(shader, getTransformation(), GL_QUADS);
}
void
NormalHoughProposer::houghVote(Entry &query, Entry &target, bin_t& bins)
{
// Compute the reference point for the R-table
Eigen::Vector4f centroid4;
compute3DCentroid(*(target.cloud), centroid4);
Eigen::Vector3f centroid(centroid4[0], centroid4[1], centroid4[2]);
assert(query.keypoints->size() == query.features->size());
assert(target.keypoints->size() == target.features->size());
// Figure out bin dimension
Eigen::Vector4f query_min4, query_max4;
getMinMax3D(*query.cloud, query_min4, query_max4);
Eigen::Vector3f query_min(query_min4[0], query_min4[1], query_min4[2]);
Eigen::Vector3f query_max(query_max4[0], query_max4[1], query_max4[2]);
Eigen::Affine3f t;
getTransformation(0, 0, 0, M_PI, 0.5, 1.5, t);
int correctly_matched = 0;
for (unsigned int i = 0; i < query.keypoints->size(); i++)
{
std::vector<int> feature_indices;
std::vector<float> sqr_distances;
int num_correspondences = 2;
if (!pcl_isfinite (query.features->points.row(i)(0)))
continue;
int num_found = target.tree->nearestKSearch(*query.features, i, num_correspondences, feature_indices, sqr_distances);
for (int j = 0; j < num_found; j++)
{
// For each one of the feature correspondences
int feature_index = feature_indices[j];
Eigen::Vector3f query_keypoint = query.keypoints->at(i).getVector3fMap();
Eigen::Vector3f target_keypoint = target.keypoints->at(feature_index).getVector3fMap();
target_keypoint = t * target_keypoint;
if ((query_keypoint - target_keypoint).norm() < 0.05)
{
correctly_matched++;
}
// Get corresponding target keypoint, and calculate its r to its centroid
PointNormal correspondence = target.keypoints->at(feature_index); // Since features correspond to the keypoints
Eigen::Vector3f r = correspondence.getVector3fMap() - centroid;
// Calculate the rotation transformation from the target normal to the query normal
Eigen::Vector3f target_normal = correspondence.getNormalVector3fMap();
target_normal.normalize();
Eigen::Vector3f query_normal = query.keypoints->at(i).getNormalVector3fMap();
query_normal.normalize();
double angle = acos( target_normal.dot(query_normal) / (target_normal.norm() * query_normal.norm()) );
Eigen::Vector3f axis = target_normal.normalized().cross(query_normal.normalized());
axis.normalize();
Eigen::Affine3f rot_transform;
rot_transform = Eigen::AngleAxisf (angle, axis);
// Check that the rotation matrix is correct
Eigen::Vector3f projected = rot_transform * target_normal;
projected.normalize();
// Transform r based on the difference between the normals
Eigen::Vector3f transformed_r = rot_transform * r;
for (int k = 0; k < num_angles_; k++)
{
float query_angle = (float(k) / num_angles_) * 2.0f * float (M_PI);
Eigen::Affine3f query_rot;
query_rot = Eigen::AngleAxisf(query_angle, query_normal.normalized());
Eigen::Vector3f guess_r = query_rot * transformed_r;
Eigen::Vector3f centroid_est = query.keypoints->at(i).getVector3fMap() - guess_r;
Eigen::Vector3f region = query_max - query_min;
Eigen::Vector3f bin_size = region / float (bins_);
Eigen::Vector3f diff = (centroid_est - query_min);
Eigen::Vector3f indices = diff.cwiseQuotient(bin_size);
castVotes(indices, bins);
}
}
}
}
void Scene::setup(View& view) {
view.transform(getTransformation());
}
void ItemRange::draw(gdl::AShader& shader, const gdl::Clock& clock) {
_model.draw(shader, getTransformation(), clock.getElapsed());
}
std::ostream& ForAll::printTo(std::ostream& out, const Indent& indent) const {
out << indent << "For " << filter << " do\n";
return getTransformation()->printTo(out, indent + 1);
}
long Tracker::getX(){
return getTransformation().trans().x();
}
AABoundingBox ModelInstance::getBoundingBox() const {
return getNonTransformedBoundingBox().transform(getTransformation());
}
