/*
* Lion Constructor
*/
Lion::Lion(HashFunction* hash, StreamCipher* cipher, size_t bs) :
m_block_size(std::max<size_t>(2*hash->output_length() + 1, bs)),
m_hash(hash),
m_cipher(cipher)
{
if(2*left_size() + 1 > m_block_size)
throw Invalid_Argument(name() + ": Chosen block size is too small");
if(!m_cipher->valid_keylength(left_size()))
throw Invalid_Argument(name() + ": This stream/hash combo is invalid");
m_key1.resize(left_size());
m_key2.resize(left_size());
}
void
calibrate_stereo(const observation_pts_v_t& left_points, const observation_pts_v_t& right_points,
const object_pts_v_t& object_points, const cv::Size& image_size, PinholeCameraModel& left,
PinholeCameraModel& right)
{
PinholeCameraModel camera;
StereoCameraModel scam;
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat K_left, K_right, D_right, D_left, R, T, E, F;
int flags =cv::CALIB_FIX_PRINCIPAL_POINT| cv::CALIB_FIX_ASPECT_RATIO /*| cv::CALIB_ZERO_TANGENT_DIST|cv::CALIB_FIX_PRINCIPAL_POINT| cv::CALIB_FIX_K1 | cv::CALIB_FIX_K2 |cv::CALIB_FIX_K3*/;
cv::Size left_size(image_size), right_size(image_size);
double left_rms = cv::calibrateCamera(object_points, left_points, left_size, K_left, D_left, rvecs, tvecs, flags);
double right_rms = cv::calibrateCamera(object_points, right_points, right_size, K_right, D_right, rvecs, tvecs,
flags);
double stereo_rms = cv::stereoCalibrate(object_points, left_points, right_points, K_left, D_left, K_right, D_right,
left_size, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 500, 1e-6),
cv::CALIB_FIX_INTRINSIC | flags);
std::cout << "image size:" << image_size.width << ":" << image_size.height << std::endl;
std::cout << "R:" << R << std::endl;
std::cout << "T:" << T << std::endl;
std::cout << "D:" << D_left << std::endl;
std::cout << "left rms:" << left_rms << " right rms:" << right_rms << " stereo rms:" << stereo_rms << std::endl;
left.setParams(left_size, K_left, D_left, cv::Mat_<double>::eye(3, 3), K_left);
right.setParams(right_size, K_right, D_right, cv::Mat_<double>::eye(3, 3), K_right);
left.writeCalibration("left.yml");
right.writeCalibration("right.yml");
Eigen::Matrix3d Re;
Eigen::Vector3d Te;
Eigen::Matrix4d Pe = Eigen::Matrix4d::Identity();
cv2eigen(R, Re);
cv2eigen(T.t(), Te);
std::cout << Te << std::endl;
Pe.block(0, 0, 3, 3) = Re;
Pe.block(0, 3, 3, 1) = Te;
Pose P;
P.transform.matrix() = Pe;
scam.setParams(left, right, P);
scam.writeCalibration("stereo.yml");
}
int char_buffer(char *txt, t_buffer *buff)
{
int len;
size_t size;
size_t i;
if (txt == NULL || (len = strlen(txt)) > BUFF_LEN)
return (-1);
size = left_size(buff);
if (size < strlen(txt))
return (-1);
i = 0;
while (i != strlen(txt))
{
((char *)buff->buff)[buff->e] = txt[i];
buff->e++;
if (buff->e == P_MAX + 1)
buff->e = 0;
i++;
}
return (0);
}
PerfPanel::PerfPanel(wxWindow *frame) : wxPanel(frame)
{
#define IMG(fn) wxBitmap(wxString("./Images/")+wxString(fn)+wxString(".bmp"),wxBITMAP_TYPE_ANY)
int panel_border=10;
UpdateFS_src();
wxSizer* sz = new wxBoxSizer(wxVERTICAL);
sz->AddSpacer(panel_border);
wxSize left_size(100,30);
wxSizer* sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
wxButton*btn_up = new wxBitmapButton(this,5,IMG("small_add"));
btn_up->SetToolTip(MY_TXT("Add selected rendering method","Добавить выбранный метод рендеринга"));
btn_up->Show(0);
m_box_rmode = new wxChoice(this,3);
for(int i=0;i<CT::iso->rendering_methods.size();i++)
{
m_box_rmode->Append(CT::iso->rendering_methods[i]->caption);
}
m_box_rmode->Select(0);
//sz->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Rendering method","Метод рендеринга"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_box_rmode,1,wxGROW);
sz1->Add(btn_up,0,wxSTRETCH_NOT);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
sz->AddSpacer(panel_border);
//sz->Add(m_box_rmode,0,wxEXPAND);
//
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
m_box_rtype = new wxChoice(this,2);
m_box_rtype->Append(MY_TXT("Permanent","Постоянный"));
m_box_rtype->Append(MY_TXT("When something has changed","При изменениях"));
m_box_rtype->Append(MY_TXT("Frames accumulation","Накопление кадров"));
//m_box_rtype->Append(MY_TXT("Use LoD when changing","Использовать LoD при изменении"));
m_box_rtype->Select(CT::RenderingType);
sz1->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Rendering type","Тип рендеринга"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_box_rtype,1,wxGROW);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
//
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
m_slider_z[0] = new wxSlider(this,1,100,1,500);
sz1->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Rendering quality","Качество рендеринга"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_slider_z[0],1,wxGROW);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
m_slider_z[2] = new wxSlider(this,8,100,0,400);
sz1->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Interaction quality","???"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_slider_z[2],1,wxGROW);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
m_slider_z[1] = new wxSlider(this,6,50,0,100);
sz1->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Fast resolution","Быстрое разрешение"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_slider_z[1],1,wxGROW);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
m_box_shading_type = new wxChoice(this,6);
m_box_shading_type->Append(MY_TXT("No","Нет"));
m_box_shading_type->Append(MY_TXT("Phong","Фонг"));
sz1->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Shading model","Модель затенения"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_box_shading_type,1,wxGROW);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
/*
m_box_shading_type = new wxChoice(this,6);
m_box_shading_type->Append(MY_TXT("No","Нет"));
m_box_shading_type->Append(MY_TXT("Phong","Фонг"));
sz->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Shading model","Модель затенения"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz->Add(m_box_shading_type,1,wxGROW);
*/
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
m_box_tf = new wxChoice(this,7);
m_box_tf->Append(MY_TXT("1D Gray","1D Серая"));
m_box_tf->Append(MY_TXT("1D Colored","1D цветная"));
sz1->Add(new wxStaticText(this,wxID_ANY,MY_TXT("Transfer function","Раскраска"),wxDefaultPosition,left_size),0,wxSTRETCH_NOT);
sz1->Add(m_box_tf,1,wxGROW);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
// m_check_box_autofps = new wxCheckBox(this,4,MY_TXT("Permanent rendering","Постоянный рендеринг"),ster+wxPoint(0,100));
m_check_use_accel_struct = new wxCheckBox(this,4,MY_TXT("Use acceleration structure","Использовать ускоряющую структуру"));
m_check_use_accel_struct->Show(0);
m_check_use_cubic_filt = new wxCheckBox(this,4,MY_TXT("Tricubic filtering","Трикубическая фильтрация"));
m_check_bicubic_filtering = new wxCheckBox(this,4,MY_TXT("Bicubic filtering","Бикубическая фильтрация"));
sz->Add(m_check_use_accel_struct,0,wxSTRETCH_NOT);
sz1 = new wxBoxSizer(wxHORIZONTAL);
sz1->AddSpacer(panel_border);
sz1->Add(m_check_use_cubic_filt,0,wxSTRETCH_NOT);
sz1->Add(m_check_bicubic_filtering,0,wxSTRETCH_NOT);
sz1->AddSpacer(panel_border);
sz->Add(sz1,0,wxEXPAND);
SetSizer(sz);
}