static void
mex_telepathy_channel_new_tf_channel (GObject *source,
GAsyncResult *result,
gpointer user_data)
{
MexTelepathyChannel *self = MEX_TELEPATHY_CHANNEL (user_data);
MexTelepathyChannelPrivate *priv = self->priv;
MEX_DEBUG ("New TfChannel");
priv->tf_channel = TF_CHANNEL (g_async_initable_new_finish (
G_ASYNC_INITABLE (source), result, NULL));
if (priv->tf_channel == NULL)
{
MEX_WARNING ("Failed to create channel");
return;
}
MEX_DEBUG ("Adding timeout");
priv->pipeline_timer = g_timeout_add_seconds (5,
mex_telepathy_channel_dump_pipeline,
self);
g_signal_connect (priv->tf_channel, "fs-conference-added",
G_CALLBACK (mex_telepathy_channel_conference_added), self);
g_signal_connect (priv->tf_channel, "content-added",
G_CALLBACK (mex_telepathy_channel_on_content_added), self);
}
static void
mex_telepathy_channel_on_contact_fetched (TpConnection *connection,
guint n_contacts,
TpContact *const *contacts,
guint n_failed,
const TpHandle *failed,
const GError *fetched_error,
gpointer user_data,
GObject *weak_object)
{
MexTelepathyChannel *self = MEX_TELEPATHY_CHANNEL (user_data);
int i = 0;
if (self->priv->channel)
{
for (i = 0; i < n_contacts; ++i)
{
gchar *text;
const gchar *alias;
TpContact *current;
GFile *file;
// Get the contacts.
current = contacts[i];
// Connect to alias change signal.
// Add the alias to the label.
alias = tp_contact_get_alias (current);
mx_label_set_text (MX_LABEL (self->priv->title_label),
alias);
if (tp_channel_get_requested(self->priv->channel))
text = g_strdup_printf ("Calling %s", alias);
else
text = g_strdup_printf ("Setting up call with %s", alias);
mx_label_set_text (MX_LABEL (self->priv->busy_label), text);
g_free (text);
file = tp_contact_get_avatar_file (current);
if (file)
{
gchar *filename = g_file_get_path (file);
GError *error = NULL;
MEX_DEBUG ("setting new avatar filename to %s", filename);
mx_image_set_from_file (MX_IMAGE(self->priv->avatar_image),
filename,
&error);
if (error)
{
MEX_ERROR ("ERROR %s loading avatar from file %s\n",
error->message, filename);
g_clear_error (&error);
}
if (filename)
g_free (filename);
}
}
}
}
static void
handle_new_source_plugin (MexTrackerPlugin *self, GrlMediaPlugin *plugin)
{
GrlSupportedOps ops;
GrlMetadataSource *meta = GRL_METADATA_SOURCE (plugin);
const char *id;
id = grl_media_plugin_get_id (plugin);
if (g_strcmp0 (id,"grl-tracker") != 0)
{
MEX_DEBUG ("Attempting to use the media explorer tracker plugin "
"but grilo tracker plugin not loaded. "
"You may not see any content!");
return;
}
ops = grl_metadata_source_supported_operations (meta);
if ((ops & GRL_OP_QUERY) == 0)
return;
grl_media_source_notify_change_start (GRL_MEDIA_SOURCE (plugin), NULL);
add_model (self, plugin, MEX_TRACKER_CATEGORY_VIDEO);
add_model (self, plugin, MEX_TRACKER_CATEGORY_IMAGE);
add_model (self, plugin, MEX_TRACKER_CATEGORY_MUSIC);
}
static void
mex_surface_player_init (MexSurfacePlayer *self)
{
MEX_DEBUG ("init");
self->priv = SURFACE_PLAYER_PRIVATE (self);
clutter_gst_player_init (CLUTTER_GST_PLAYER (self));
}
static void
mex_telepathy_channel_on_content_added (TfChannel *channel,
TfContent *content,
gpointer user_data)
{
MexTelepathyChannel *self = MEX_TELEPATHY_CHANNEL (user_data);
MexTelepathyChannelPrivate *priv = self->priv;
GstPad *srcpad, *sinkpad;
FsMediaType mtype;
GstElement *element;
GstStateChangeReturn ret;
MEX_DEBUG ("Content added");
g_object_get (content,
"sink-pad", &sinkpad,
"media-type", &mtype,
NULL);
switch (mtype)
{
case FS_MEDIA_TYPE_AUDIO:
MEX_DEBUG ("Audio content added");
element = gst_parse_bin_from_description (
"autoaudiosrc ! audioresample ! audioconvert ! volume name=micvolume", TRUE, NULL);
priv->outgoing_mic = element;
priv->mic_volume = gst_bin_get_by_name (GST_BIN (priv->outgoing_mic), "micvolume");
break;
case FS_MEDIA_TYPE_VIDEO:
MEX_DEBUG ("Video content added");
element = mex_telepathy_channel_setup_video_source (self, content);
break;
default:
MEX_WARNING ("Unknown media type");
g_object_unref (sinkpad);
return;
}
g_signal_connect (content, "src-pad-added",
G_CALLBACK (mex_telepathy_channel_on_src_pad_added), self);
gst_bin_add (GST_BIN (priv->pipeline), element);
srcpad = gst_element_get_pad (element, "src");
if (GST_PAD_LINK_FAILED (gst_pad_link (srcpad, sinkpad)))
{
tp_channel_close_async (TP_CHANNEL (priv->channel), NULL, NULL);
MEX_WARNING ("Couldn't link source pipeline !?");
return;
}
ret = gst_element_set_state (element, GST_STATE_PLAYING);
if (ret == GST_STATE_CHANGE_FAILURE)
{
tp_channel_close_async (TP_CHANNEL (priv->channel), NULL, NULL);
MEX_WARNING ("source pipeline failed to start!?");
return;
}
g_object_unref (srcpad);
g_object_unref (sinkpad);
}
static void
mex_telepathy_channel_on_src_pad_added (TfContent *content,
TpHandle handle,
FsStream *stream,
GstPad *pad,
FsCodec *codec,
gpointer user_data)
{
MexTelepathyChannel *self = MEX_TELEPATHY_CHANNEL (user_data);
MexTelepathyChannelPrivate *priv = self->priv;
gchar *cstr = fs_codec_to_string (codec);
FsMediaType mtype;
GstPad *sinkpad;
GstElement *element;
GstStateChangeReturn ret;
/* Upon pad added, clear the "in progress" box+padding */
clutter_actor_hide (CLUTTER_ACTOR (priv->busy_box));
clutter_actor_show (CLUTTER_ACTOR (priv->full_frame) );
MEX_DEBUG ("New src pad: %s", cstr);
g_object_get (content, "media-type", &mtype, NULL);
switch (mtype)
{
case FS_MEDIA_TYPE_AUDIO:
element = gst_parse_bin_from_description (
"audioconvert ! audioresample ! audioconvert ! autoaudiosink",
TRUE, NULL);
break;
case FS_MEDIA_TYPE_VIDEO:
element = priv->incoming_sink;
break;
default:
MEX_WARNING ("Unknown media type");
return;
}
if (!gst_bin_add (GST_BIN (priv->pipeline), element))
{
MEX_WARNING ("Failed to add sink element to pipeline");
}
sinkpad = gst_element_get_pad (element, "sink");
ret = gst_element_set_state (element, GST_STATE_PLAYING);
if (ret == GST_STATE_CHANGE_FAILURE)
{
tp_channel_close_async (TP_CHANNEL (priv->channel), NULL, NULL);
MEX_WARNING ("Failed to start tee sink pipeline !?");
return;
}
if (GST_PAD_LINK_FAILED (gst_pad_link (pad, sinkpad)))
{
tp_channel_close_async (TP_CHANNEL (priv->channel), NULL, NULL);
MEX_WARNING ("Couldn't link sink pipeline !?");
return;
}
g_object_unref (sinkpad);
/* Start in FULL mode */
mex_telepathy_channel_set_tool_mode (self, TOOL_MODE_FULL, 100);
}
void CommandComputeMatches(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
// Expected Input:
// cmd
// class handle
// samplePtsXfmd ~ sample points (3 x nSamps double)
// samplePtsCov ~ sample point covariances (3 x 3 x nSamps double)
// matchDatumsInit ~ initial match datums (1 x nSamps int32) [optional]
//
// Output:
// MatchPts3D ~ 3D match points (in camera coords) (3 x nSamps double)
// MatchNorms3D ~ 3D match norms (in camera coords) (3 x nSamps double) [optional]
// matchDatums ~ final match datums (1 x nSamps int32) [optional]
//
// Check parameters
if ((nlhs < 1 || nlhs > 3) || (nrhs < 4 || nrhs > 5))
{
MEX_ERROR("ComputeMatches: requires 1 or 3 outputs, 4 or 5 inputs.");
}
// Get the class instance from the second input
mexInterface_AlgPDTree_MLP_Mesh& obj =
*convertMat2Ptr<mexInterface_AlgPDTree_MLP_Mesh>(prhs[1]);
algPDTree_MLP_Mesh& alg = *obj.pAlg;
//--- Inputs ---//
MEX_DEBUG("Parsing Inputs...\n");
// Parse Samples
MEX_DEBUG(" ...samplePts\n");
Parse3DVectorArray_Double(prhs[2], obj.samplePtsXfmd);
// Parse Sample Covariances
MEX_DEBUG(" ...sampleCov\n");
ParseMatrixArray3x3_Double(prhs[3], obj.sampleCovXfmd);
if (obj.sampleCovXfmd.size() != obj.samplePtsXfmd.size())
{
MEX_ERROR("ERROR: number of covariances does not equal number of samples");
}
// Parse Match Datum Initializers
bool bDatumsInitialized = false;
if (nrhs >= 5)
{
MEX_DEBUG(" ...matchDatumsInit\n");
ParseVector_Int(prhs[4], obj.matchDatums);
bDatumsInitialized = true;
}
MEX_DEBUG(" ...done\n");
//--- Computation ---//
obj.nSamples = obj.samplePtsXfmd.size();
obj.matchPts.SetSize(obj.nSamples);
obj.matchNorms.SetSize(obj.nSamples);
obj.matchDatums.SetSize(obj.nSamples);
obj.matchErrors.SetSize(obj.nSamples);
if (!bDatumsInitialized)
{
// initialize match datums with accelerated approximate search
for (unsigned int i = 0; i < obj.nSamples; i++)
{
obj.matchDatums[i] = obj.pTree->FastInitializeProximalDatum(
obj.samplePtsXfmd[i], obj.matchPts[i]);
}
}
// compute matches
obj.ComputeMatches();
//--- Outputs ---//
unsigned int nSamps = obj.nSamples;
// outputs 1 & 2: match points and normals
plhs[0] = mxCreateDoubleMatrix(3, nSamps, mxREAL);
plhs[1] = mxCreateDoubleMatrix(3, nSamps, mxREAL);
double *matchPts = mxGetPr(plhs[0]);
double *matchNorms = mxGetPr(plhs[1]);
for (unsigned int i = 0; i < nSamps; i++)
{
(*matchPts) = obj.matchPts[i].Element(0);
matchPts++;
(*matchPts) = obj.matchPts[i].Element(1);
matchPts++;
(*matchPts) = obj.matchPts[i].Element(2);
matchPts++;
(*matchNorms) = obj.matchNorms[i].Element(0);
matchNorms++;
(*matchNorms) = obj.matchNorms[i].Element(1);
matchNorms++;
(*matchNorms) = obj.matchNorms[i].Element(2);
matchNorms++;
}
// output 3: match datums
if (nlhs >= 3)
{
plhs[2] = mxCreateNumericMatrix(nSamps, 1, mxINT32_CLASS, mxREAL);
int *matchDatums = static_cast<int*> (mxGetData(plhs[2]));
for (unsigned int i = 0; i < nSamps; i++)
{
(*matchDatums) = obj.matchDatums[i];
matchDatums++;
}
}
}
void CommandInitialize(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
// Expected Input:
// cmd
// class handle
// mesh
// V ~ 3D vertex positions (3 x Nv double)
// T ~ triangle vertex indices (3 x Nt integer)
// N ~ triangle normals (3 x Nt double)
// mesh noise model (optional)
// Tcov ~ triangle covariances (3 x 3 x Nt double)
//
std::stringstream ss;
// Get the class instance from the second input
mexInterface_AlgPDTree_MLP_Mesh& obj =
*convertMat2Ptr<mexInterface_AlgPDTree_MLP_Mesh>(prhs[1]);
// Check parameters
if (nlhs != 0 || nrhs < 5 || nrhs > 6 )
{
MEX_ERROR("Cmd Initialize: requires 0 outputs, 5-6 inputs.");
}
//--- Inputs ---//
MEX_DEBUG("Parsing Inputs...\n");
// Parse Mesh
//vctDynamicVector<vct3> V;
//vctDynamicVector<vctInt3> T;
//vctDynamicVector<vct3> Tn;
MEX_DEBUG(" ...V\n");
Parse3DVectorArray_Double(prhs[2], obj.V);
MEX_DEBUG(" ...T\n");
Parse3DVectorArray_Int(prhs[3], obj.T);
MEX_DEBUG(" ...N\n");
Parse3DVectorArray_Double(prhs[4], obj.Tn);
if (nrhs >= 6)
{
MEX_DEBUG(" ...Tcov\n");
ParseMatrixArray3x3_Double(prhs[5], obj.TriangleCov);
unsigned int numT = obj.T.size();
if (obj.TriangleCov.size() != numT)
{
MEX_ERROR("ERROR: number of triangle covariances does not equal number of triangles");
}
// compute eigenvalues of triangle covariances
obj.TriangleCovEig.SetSize(numT);
vct3x3 dummyMat;
for (unsigned int i = 0; i < numT; i++)
{
ComputeCovEigenDecomposition_NonIter(obj.TriangleCov[i], obj.TriangleCovEig[i], dummyMat);
}
}
else
{
obj.TriangleCov.SetSize(obj.T.size());
obj.TriangleCovEig.SetSize(obj.T.size());
obj.TriangleCov.SetAll(vct3x3(0.0));
obj.TriangleCovEig.SetAll(vct3(0.0));
}
MEX_DEBUG(" ...done\n");
//--- Processing ---//
// build mesh
MEX_DEBUG("Building mesh...\n");
cisstMesh *pMesh = new cisstMesh();
pMesh->LoadMesh(&obj.V, &obj.T, &obj.Tn);
if (pMesh->NumVertices() == 0)
{
MEX_ERROR("ERROR: Build mesh failed\n");
}
// set mesh noise model
pMesh->TriangleCov = obj.TriangleCov;
pMesh->TriangleCovEig = obj.TriangleCovEig;
// build covariance tree
int nThresh = 5; // Cov Tree Params
double diagThresh = 5.0; // ''
MEX_DEBUG("Building mesh covariance tree...\n");
obj.pTree = new PDTree_Mesh(*pMesh, nThresh, diagThresh);
//PDTree_Mesh *pPDTree = new PDTree_Mesh(*pMesh, nThresh, diagThresh);
if (nrhs >= 6)
{ // compute the node noise models
obj.pTree->ComputeNodeNoiseModels();
}
ss.str("");
ss << "Tree built: NNodes = " << obj.pTree->NumNodes() << " NDatums = "
<< obj.pTree->NumData() << " TreeDepth = " << obj.pTree->TreeDepth() << "\n";
MEX_DEBUG(ss.str());
// create & initialize algorithm
if (obj.pAlg)
{
delete obj.pAlg;
obj.pAlg = NULL;
}
obj.pAlg = new algPDTree_MLP_Mesh(obj.pTree);
}
/**
* mex_init_load_plugins:
*
* Load the Grilo plugins.
*/
static void
mex_init_load_grilo_plugins (void)
{
GrlPluginRegistry *registry;
GError *error = NULL;
gchar *settings;
registry = grl_plugin_registry_get_default ();
settings = mex_settings_find_config_file (mex_settings_get_default (),
"grilo-system.conf");
if (settings)
grl_plugin_registry_add_config_from_file (registry, settings, NULL);
g_free (settings);
settings = mex_settings_find_config_file (mex_settings_get_default (),
"mex.conf");
/* Load plugins */
if (settings)
{
GKeyFile *mex_conf;
gchar **enabled_plugins;
mex_conf = g_key_file_new ();
g_key_file_load_from_file (mex_conf,
settings,
G_KEY_FILE_NONE,
NULL);
enabled_plugins = g_key_file_get_string_list (mex_conf,
"grilo-plugins",
"enabled",
NULL,
NULL);
g_key_file_free (mex_conf);
if (enabled_plugins)
{
gint i;
for (i=0; enabled_plugins[i]; i++)
{
if (!grl_plugin_registry_load_by_id (registry,
enabled_plugins[i],
&error))
{
g_warning ("Tried to load specified grilo plugin: %s but failed: %s",
enabled_plugins[i],
(error) ? error->message : "");
if (error)
g_clear_error (&error);
}
else
{
MEX_DEBUG ("Loaded grilo plugin: %s plugin",
enabled_plugins[i]);
}
}
g_strfreev (enabled_plugins);
}
else
{
MEX_DEBUG ("No enabled plugins in mex.conf, loading default plugins");
grilo_load_default_plugins (registry);
}
g_free (settings);
}
else
{
MEX_DEBUG ("No mex.conf found, loading default plugins");
grilo_load_default_plugins (registry);
}
}
void CommandComputeMatches(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
// Expected Input:
// cmd
// class handle
// samplePtsXfmd ~ 2D sample points
// sampleNormsXfmd ~ 2D sample orientations
// sigma2 ~ position variances
// k ~ orientation concentrations
// matchDatumsInit ~ initial match datums [optional]
// match_ThetaMax ~ maximum permitted orientation error for a match [optional]
//
// Output:
// MatchPts2D ~ 2D match points (in image coords) (2 x numSamps double)
// MatchNorms2D ~ 2D match norms (in image coords) (2 x numSamps double)
// MatchDatums ~ match datums (numSamps int32) (optional)
// PermittedMatches ~ permitted matches (i.e. permitted if theta < thetaMax) (numSamps logical) (optional)
//
// Check parameters
if ((nlhs < 2 || nlhs > 4) || (nrhs < 6 || nrhs > 8))
{
MEX_ERROR("ComputeMatches: requires 2 to 4 outputs, 6 to 8 inputs.");
}
// Get the class instance from the second input
mexInterface_Alg2D_DirPDTree_vonMises_Edges& obj =
*convertMat2Ptr<mexInterface_Alg2D_DirPDTree_vonMises_Edges>(prhs[1]);
alg2D_DirPDTree_vonMises_Edges& alg = *obj.pAlg;
//--- Inputs ---//
MEX_DEBUG("Parsing Inputs...\n");
// Parse Samples
//vctDynamicVector<vct2> samplePts;
//vctDynamicVector<vct2> sampleNorms;
MEX_DEBUG(" ...samplePts\n");
Parse2DVectorArray_Double(prhs[2], obj.samplePtsXfmd);
MEX_DEBUG(" ...sampleNorms\n");
Parse2DVectorArray_Double(prhs[3], obj.sampleNormsXfmd);
// Parse Noise Model
MEX_DEBUG(" ...sigma2\n");
vctDynamicVector<double> sigma2;
ParseVector_Double(prhs[4], sigma2);
if (sigma2.size() == 1)
{
obj.sigma2.SetSize(obj.samplePtsXfmd.size());
obj.sigma2.SetAll(sigma2[0]);
}
else
{
if (sigma2.size() != obj.samplePtsXfmd.size())
{
MEX_ERROR("Invalid size sigma2");
}
obj.sigma2 = sigma2;
}
MEX_DEBUG(" ...k\n");
vctDynamicVector<double> k;
ParseVector_Double(prhs[5], k);
if (k.size() == 1)
{
obj.k.SetSize(obj.samplePtsXfmd.size());
obj.k.SetAll(k[0]);
}
else
{
if (k.size() != obj.samplePtsXfmd.size())
{
MEX_ERROR("Invalid size k");
}
obj.k = k;
}
// Parse Match Datum Initializers
bool bDatumsInitialized = false;
if (nrhs >= 7)
{
MEX_DEBUG(" ...matchDatumsInit\n");
if (!mxIsEmpty(prhs[6]))
{
ParseVector_Int(prhs[6], obj.matchDatums);
bDatumsInitialized = true;
}
}
// Parse match_MaxTheta
if (nrhs >= 8)
{
MEX_DEBUG(" ...match_MaxTheta\n");
ParseDouble(prhs[7], obj.pAlg->dThetaMax);
//ParseDouble(prhs[7], obj.match_ThetaMax);
}
else
{
obj.pAlg->dThetaMax = cmnPI; // default
//obj.match_ThetaMax = cmnPI; // default
}
MEX_DEBUG(" ...done\n");
//--- Computation ---//
obj.nSamples = obj.samplePtsXfmd.size();
obj.matchPts.SetSize(obj.nSamples);
obj.matchNorms.SetSize(obj.nSamples);
obj.matchDatums.SetSize(obj.nSamples);
obj.matchErrors.SetSize(obj.nSamples);
obj.matchPermitted.SetSize(obj.nSamples);
if (!bDatumsInitialized)
{
// initialize match datums with accelerated approximate search
// Note: since this is a position-only initialization, there
// may be many non-permitted matches in the initialization;
// for these matches, the initialization will not have helped
for (unsigned int i = 0; i < obj.nSamples; i++)
{
obj.matchDatums[i] = obj.pDirTree->FastInitializeProximalDatum(
obj.samplePtsXfmd[i], obj.sampleNormsXfmd[i],
obj.matchPts[i], obj.matchNorms[i]);
}
}
// initialize all permitted matches to false
obj.matchPermitted.SetAll(false);
//// initialize permitted match flag
//obj.matchPermitted.SetAll(false);
//double theta;
//for (unsigned int i = 0; i < obj.nSamples; i++)
//{
// theta = acos( vctDotProduct(obj.sampleNormsXfmd[i], obj.matchNorms[i]) );
// if (theta > obj.pAlg->dThetaMax)
// {
// obj.matchPermitted[i] = false;
// }
// else
// {
// obj.matchPermitted[i] = true;
// }
//}
// compute matches
obj.ComputeMatches();
//--- Outputs ---//
unsigned int nSamps = obj.nSamples;
// outputs 1 & 2: 2D match points and normals
plhs[0] = mxCreateDoubleMatrix(2, nSamps, mxREAL);
plhs[1] = mxCreateDoubleMatrix(2, nSamps, mxREAL);
double *matchPts = mxGetPr(plhs[0]);
double *matchNorms = mxGetPr(plhs[1]);
for (unsigned int i = 0; i < nSamps; i++)
{
(*matchPts) = obj.matchPts[i].Element(0);
matchPts++;
(*matchPts) = obj.matchPts[i].Element(1);
matchPts++;
(*matchNorms) = obj.matchNorms[i].Element(0);
matchNorms++;
(*matchNorms) = obj.matchNorms[i].Element(1);
matchNorms++;
}
// output 3: match datums
if (nlhs >= 3)
{
plhs[2] = mxCreateNumericMatrix(1, nSamps, mxINT32_CLASS, mxREAL);
int *matchDatums = static_cast<int*> (mxGetData(plhs[2]));
for (unsigned int i = 0; i < nSamps; i++)
{
(*matchDatums) = obj.matchDatums[i];
matchDatums++;
}
}
// output 4: permitted matches
if (nlhs >= 4)
{
plhs[3] = mxCreateLogicalMatrix(1, nSamps);
mxLogical *matchPerm = mxGetLogicals(plhs[3]);
//bool *matchDatums = static_cast<bool*> (mxGetData(plhs[4]));
for (unsigned int i = 0; i < nSamps; i++)
{
(*matchPerm) = obj.matchPermitted[i];
matchPerm++;
}
}
}
void CommandInitialize(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
// Expected Input:
// cmd
// class handle
// edgesV1 ~ first vertices of 2D edges (in image coords)
// edgesV2 ~ second vertices of 2D edges (in image coords)
// edgesNorm ~ 2D edge normals (in image coords)
//
std::stringstream ss;
// Get the class instance from the second input
mexInterface_Alg2D_DirPDTree_vonMises_Edges& obj =
*convertMat2Ptr<mexInterface_Alg2D_DirPDTree_vonMises_Edges>(prhs[1]);
// Check parameters
if (nlhs != 0 || nrhs != 5)
{
MEX_ERROR("Cmd Initialize: requires 0 outputs, 5 inputs.");
}
//--- Inputs ---//
MEX_DEBUG("Parsing Inputs...\n");
// Parse 2D Edges
//vctDynamicVector<vct2> edgesV1;
//vctDynamicVector<vct2> edgesV2;
//vctDynamicVector<vct2> edgesNorm;
MEX_DEBUG(" ...edgesV1\n");
Parse2DVectorArray_Double(prhs[2], obj.edgesV1);
MEX_DEBUG(" ...edgesV2\n");
Parse2DVectorArray_Double(prhs[3], obj.edgesV2);
MEX_DEBUG(" ...edgesNorm\n");
Parse2DVectorArray_Double(prhs[4], obj.edgesNorm);
MEX_DEBUG(" ...done\n");
//--- Processing ---//
// build 2D edge covariance tree
int nThresh = 6;
double diagThresh = 0.0;
bool bUseOBB = false;
//bool bUseOBB = true; // note: OBB's are not fully implemented for the 2D case (check the fast initialize search routine)
obj.pDirTree = new DirPDTree2D_Edges(
obj.edgesV1, obj.edgesV2, obj.edgesNorm,
nThresh, diagThresh, bUseOBB);
// create & initialize algorithm
if (obj.pAlg)
{
delete obj.pAlg;
obj.pAlg = NULL;
}
obj.pAlg = new alg2D_DirPDTree_vonMises_Edges(obj.pDirTree);
}
