std::vector<Edgel> EdgelDetector::findEdgelsInRegion(const int left, const int top, const int width, const int height ) {
float prev1, prev2;
std::vector<Edgel> edgels;
// debug function
if( drawSectorGrids ) {
for( int y=top; y<top+height; y+=RASTERSIZE ) {
drawLine( left, y, left+width, y, 128, 128, 128, 1);
}
for( int x=left; x<left+width; x+=RASTERSIZE ) {
drawLine( x, top, x, top+height, 128, 128, 128, 1);
}
}
// debug function
if( drawSectors ) {
drawLine( left, top, left+width, top, 255, 255, 0, 1);
drawLine( left, top, left, top+height, 255, 255, 0, 1);
drawLine( left, top+height, left+width, top+height, 255, 255, 0, 1);
drawLine( left+width, top, left+width, top+height, 255, 255, 0, 1);
}
for( int y=0; y<height; y+=RASTERSIZE ) {
unsigned char* offset = buffer->getBuffer() + (left + (y+top)*buffer->getWidth() ) * 3;
prev1 = prev2 = 0.0f;
const int pitch = 3;
for( int x=0; x<width; x++) {
//// CODE DUPLICATED
// check channels
int current = edgeKernel( offset, pitch );
if( current > THRESHOLD &&
edgeKernel( offset+1, pitch ) > THRESHOLD &&
edgeKernel( offset+2, pitch ) > THRESHOLD ) {
// edge!
} else {
current = 0.0f;
}
// find local maximum
if( prev1 > 0.0f && prev1 > prev2 && prev1 > current ) {
Edgel edgel;
edgel.setPosition(left+x-1, top+y);
edgel.slope = edgeGradientIntensity(edgel.position.x, edgel.position.y);
edgels.push_back(edgel);
}
prev2 = prev1;
prev1 = current;
offset += pitch;
//// CODE DUPLICATED
}
}
// debug function
if( drawEdges ) {
for( int i=0, s = edgels.size(); i<s; i++ ) {
drawPoint( edgels[i].position.x, edgels[i].position.y, 0, 0, 255, THICKNESS);
}
}
int debugNumOfHorizontalEdges = edgels.size();
for( int x=0; x<width; x+=RASTERSIZE ) {
unsigned char* offset = buffer->getBuffer() + (left + x + (top*buffer->getWidth() )) * 3;
const int pitch = 3*buffer->getWidth();
prev1 = prev2 = 0.0f;
for( int y=0; y<height; y++) {
//// CODE DUPLICATED
// check channels
int current = edgeKernel( offset, pitch );
if( current > THRESHOLD &&
edgeKernel( offset+1, pitch ) > THRESHOLD &&
edgeKernel( offset+2, pitch ) > THRESHOLD ) {
// edge!
} else {
current = 0.0f;
}
// find local maximum
if( prev1 > 0.0f && prev1 > prev2 && prev1 > current ) {
Edgel edgel;
edgel.setPosition(left+x, top+y-1);
edgel.slope = edgeGradientIntensity(edgel.position.x, edgel.position.y);
edgels.push_back(edgel);
}
prev2 = prev1;
prev1 = current;
offset += pitch;
//// CODE DUPLICATED
}
}
// debug function
if( drawEdges ) {
for( int i=debugNumOfHorizontalEdges, s = edgels.size(); i<s; i++ ) {
drawPoint( edgels[i].position.x, edgels[i].position.y, 0, 255, 0, THICKNESS);
}
}
return edgels;
}
int mainStaticMatch()
{
time_t start,end1,end2,end3,end4,end5;
start = clock();
IplImage *img1, *img2;
img1 = cvLoadImage("../data/1.JPG");
img2 = cvLoadImage("../data/2.JPG");
end1 = clock();
IpVec ipts1, ipts2;
surfDetDes(img1,ipts1,false,4,4,2,0.0008f);
surfDetDes(img2,ipts2,false,4,4,2,0.0008f);
std::cout << "im1" << std::endl;
std::cout << "Size:" << ipts1.size() << std::endl;
std::cout << "im2" << std::endl;
std::cout << "Size:" << ipts2.size() << std::endl;
end2 = clock();
IpPairVec matches;
getMatches(ipts1,ipts2,matches);
end3 = clock();
for (unsigned int i = 0; i < matches.size(); ++i)
{
drawPoint(img1,matches[i].first);
drawPoint(img2,matches[i].second);
const int & w = img1->width;
cvLine(img1,cvPoint(matches[i].first.x,matches[i].first.y),cvPoint(matches[i].second.x+w,matches[i].second.y), cvScalar(255,255,255),1);
cvLine(img2,cvPoint(matches[i].first.x-w,matches[i].first.y),cvPoint(matches[i].second.x,matches[i].second.y), cvScalar(255,255,255),1);
}
std::cout << "Matches: " << matches.size() << std::endl;
/*
cvNamedWindow("1", CV_WINDOW_AUTOSIZE );
cvNamedWindow("2", CV_WINDOW_AUTOSIZE );
cvShowImage("1", img1);
cvShowImage("2", img2);
cvWaitKey(0);
*/
end4 = clock();
// cvSaveImage("result_gpu1.jpg",img1);
// cvSaveImage("result_gpu2.jpg",img2);
// Stitch two images
IplImage *img = cvCreateImage(cvSize(img1->width + img2->width,
img1->height),img1->depth,img1->nChannels);
cvSetImageROI( img, cvRect( 0, 0, img1->width, img1->height ) );
cvCopy(img1, img);
cvSetImageROI( img, cvRect(img1->width,0, img2->width, img2->height) );
cvCopy(img2, img);
cvResetImageROI(img);
cvSaveImage("result_gpu.jpg",img);
end5 = clock();
double dif1 = (double)(end1 - start) / CLOCKS_PER_SEC;
double dif2 = (double)(end2 - end1) / CLOCKS_PER_SEC;
double dif3 = (double)(end3 - end2) / CLOCKS_PER_SEC;
double dif4 = (double)(end4 - end3) / CLOCKS_PER_SEC;
double dif5 = (double)(end5 - end4) / CLOCKS_PER_SEC;
double total = (double)(end5 - start) / CLOCKS_PER_SEC;
std::cout.setf(std::ios::fixed,std::ios::floatfield);
std::cout.precision(5);
std::cout << "Time(load):" << dif1 << std::endl;
std::cout << "Time(descriptor):" << dif2 << std::endl;
std::cout << "Time(match):" << dif3 << std::endl;
std::cout << "Time(plot):" << dif4 << std::endl;
std::cout << "Time(save):" << dif5 << std::endl;
std::cout << "Time(Total):" << total << std::endl;
return 0;
}
//vind alle markers in de buffer
std::vector<ARMarker> EdgelDetector::findMarkers() {
std::vector<LineSegment> mergedlinesegments;
//maak regio's van REGIONSIZE*REGIONSIZE
for( int y=2; y<buffer->getHeight()-3; y+=REGIONSIZE ) {
for( int x=2; x<buffer->getWidth()-3; x+=REGIONSIZE) {
//zoek edgels per regio
std::vector<Edgel> edgels = findEdgelsInRegion(x, y, std::min( REGIONSIZE, buffer->getWidth()-x-3), std::min( REGIONSIZE, buffer->getHeight()-y-3) );
std::vector<LineSegment> linesegments;
//als er meer dan 5 edgels in de regio zitten, maak hier dan linesegments van
if (edgels.size() > 5) {
linesegments = findLineSegment( edgels );
}
// debug function
if( drawLineSegments ) {
for( int i=0, s = linesegments.size(); i<s; i++ ) {
drawArrow( linesegments[i].start.position.x, linesegments[i].start.position.y, linesegments[i].end.position.x, linesegments[i].end.position.y,
linesegments[i].slope.x, linesegments[i].slope.y, 255, 0, 0, THICKNESS);
}
}
//als er meer dan 1 linesegments gevonden zijn, merge ze dan
if (linesegments.size() > 1) {
linesegments = mergeLineSegments( linesegments, 50 );
}
// debug function
if( drawPartialMergedLineSegments ) {
for( int i=0, s = linesegments.size(); i<s; i++ ) {
drawArrow( linesegments[i].start.position.x, linesegments[i].start.position.y, linesegments[i].end.position.x, linesegments[i].end.position.y,
linesegments[i].slope.x, linesegments[i].slope.y, 255, 0, 0, THICKNESS); }
}
//en stop alle linesegments in een vector
for (int i = 0; i < linesegments.size(); i++) {
mergedlinesegments.push_back(linesegments.at(i)); }
}
}
//merge de lines nog 1 keer over de gehele image
mergedlinesegments = mergeLineSegments( mergedlinesegments, 50 );
// debug function
if( drawMergedLineSegments ) {
for( int i=0, s = mergedlinesegments.size(); i<s; i++ ) {
drawArrow( mergedlinesegments[i].start.position.x, mergedlinesegments[i].start.position.y, mergedlinesegments[i].end.position.x, mergedlinesegments[i].end.position.y,
mergedlinesegments[i].slope.x, mergedlinesegments[i].slope.y, 255, 0, 0, THICKNESS); }
}
// extend linesegments
extendLineSegments( mergedlinesegments );
// debug function
if( drawExtendedLineSegments ) {
for( int i=0, s = mergedlinesegments.size(); i<s; i++ ) {
drawArrow( mergedlinesegments[i].start.position.x, mergedlinesegments[i].start.position.y, mergedlinesegments[i].end.position.x, mergedlinesegments[i].end.position.y,
mergedlinesegments[i].slope.x, mergedlinesegments[i].slope.y, 255, 255, 0, THICKNESS ); }
}
std::vector<LineSegment> linesWithCorners = findLinesWithCorners( mergedlinesegments );
if( drawCorners ) {
for( int i=0, s = linesWithCorners.size(); i<s; i++ ) {
if( linesWithCorners[i].start_corner ) { drawPoint( linesWithCorners[i].start.position.x, linesWithCorners[i].start.position.y, 255, 0, 255, THICKNESS); }
if( linesWithCorners[i].end_corner ) { drawPoint( linesWithCorners[i].end.position.x, linesWithCorners[i].end.position.y, 255, 0, 255, THICKNESS); }
drawArrow( linesWithCorners[i].start.position.x, linesWithCorners[i].start.position.y, linesWithCorners[i].end.position.x, linesWithCorners[i].end.position.y,
linesWithCorners[i].slope.x, linesWithCorners[i].slope.y, 0, 255, 0, THICKNESS);
}
}
// detect markers
std::vector<ARMarker> markers;
do {
// pak een willekeurig segment, en probeer hier een chain mee te maken..
LineSegment chainSegment = linesWithCorners[0];
linesWithCorners[0] = linesWithCorners[ linesWithCorners.size() - 1 ];
linesWithCorners.resize( linesWithCorners.size() - 1 );
std::vector<LineSegment> chain;
int length = 1;
// kijk eerst of er schakels voor dit element moeten...
findChainOfLines( chainSegment, true, linesWithCorners, chain, length);
chain.push_back( chainSegment );
// en misschien ook nog wel erna..
if( length < 4 ) {
findChainOfLines( chainSegment, false, linesWithCorners, chain, length);
}
if( length > 2 ) {
ARMarker marker;
marker.chain = chain;
marker.reconstructCorners();
markers.push_back( marker );
}
} while( linesWithCorners.size() );
if( drawMarkers ) {
for( int i=0, s=markers.size(); i<s; i++ ) {
drawLine( markers[i].c1.x, markers[i].c1.y, markers[i].c2.x, markers[i].c2.y, 255, 0, 0, THICKNESS);
drawLine( markers[i].c2.x, markers[i].c2.y, markers[i].c3.x, markers[i].c3.y, 255, 0, 0, THICKNESS);
drawLine( markers[i].c3.x, markers[i].c3.y, markers[i].c4.x, markers[i].c4.y, 255, 0, 0, THICKNESS);
drawLine( markers[i].c4.x, markers[i].c4.y, markers[i].c1.x, markers[i].c1.y, 255, 0, 0, THICKNESS);
}
}
return markers;
}
void detectNewImageFeatures( const cv::Mat image,
const VectorImageFeaturePrediction &featuresPrediction,
uint newImageFeaturesMaxSize,
VectorImageFeatureMeasurement &newImageFeatures )
{
newImageFeatures.clear();
// Calculamos el tamaño de las zonas de la imágen según los parámetros configurados
ConfigurationManager& configManager = ConfigurationManager::getInstance();
//int zonesInARow = exp2f(configManager.ekfParams->detectNewFeaturesImageAreasDivideTimes);
int zonesInARow = 1;
int zoneWidth = image.cols / zonesInARow;
int zoneHeight = image.rows / zonesInARow;
// Construimos la mascara para buscar features solamente en zonas poco densas
cv::Mat imageMask( cv::Mat::ones(image.rows, image.cols, CV_8UC1) * 255 );
buildImageMask( featuresPrediction, imageMask );
// Detectamos features
std::vector<cv::KeyPoint> imageKeypoints;
configManager.featureDetector->detect(image, imageKeypoints, imageMask);
// Extraemos descriptores
cv::Mat descriptors;
configManager.descriptorExtractor->compute(image, imageKeypoints, descriptors);
// Caso particular: la cantidad de features encontrados no supera los pedidos
size_t imageKeypointsSize = imageKeypoints.size();
#ifdef DEBUG
std::cout << "Cantidad de features detectados al agregar nuevos: " << imageKeypointsSize << std::endl;
#endif
if (imageKeypointsSize <= newImageFeaturesMaxSize)
{
double imagePos[2];
for (int i = 0; i < imageKeypointsSize; ++i)
{
cv::KeyPoint &currKeypoint = imageKeypoints[i];
imagePos[0] = currKeypoint.pt.x;
imagePos[1] = currKeypoint.pt.y;
newImageFeatures.push_back( new ImageFeatureMeasurement( imagePos,
descriptors.row(i) ) );
}
}
else
{
// Buscamos nuevos features intentando que esten
// lo mejor distribuidos posible en la imagen
searchFeaturesByZone( featuresPrediction, imageKeypoints, descriptors,
zonesInARow, zoneWidth, zoneHeight,
imageMask,
newImageFeaturesMaxSize, newImageFeatures );
}
#ifdef DEBUG_SHOW_NEW_FEATURES
cv::Mat imageCopy;
image.copyTo(imageCopy);
for (int i = 1; i < zonesInARow; ++i)
{
cv::line(imageCopy, cv::Point(i * zoneWidth, 0), cv::Point(i * zoneWidth, imageCopy.rows), cv::Scalar(0, 255, 0));
cv::line(imageCopy, cv::Point(0, i * zoneHeight), cv::Point(imageCopy.cols, i * zoneHeight), cv::Scalar(0, 255, 0));
}
int featuresPredictionSize = featuresPrediction.size();
for (int i = 0; i < featuresPredictionSize; ++i)
{
ImageFeaturePrediction *currFeaturePrediction = featuresPrediction[i];
drawUncertaintyEllipse2D( imageCopy,
cv::Point2f(currFeaturePrediction->imagePos[0], currFeaturePrediction->imagePos[1]),
currFeaturePrediction->covarianceMatrix,
2 * (image.cols + image.rows),
cv::Scalar(0, 255, 0),
false );
}
cv::namedWindow("Busqueda de nuevos features: mascara");
cv::imshow("Busqueda de nuevos features: mascara", imageMask);
cv::waitKey(0);
for (int i = 0; i < newImageFeatures.size(); ++i)
{
drawPoint(imageCopy, newImageFeatures[i]->imagePos, cv::Scalar(0, 255, 255));
}
cv::namedWindow("Busqueda de nuevos features: imagen con nuevos features");
cv::imshow("Busqueda de nuevos features: imagen con nuevos features", imageCopy);
cv::waitKey(0);
// Se borran todas las ventanas creadas
cv::destroyWindow("Busqueda de nuevos features: mascara");
cv::destroyWindow("Busqueda de nuevos features: imagen con nuevos features");
#endif
}
void EKF::init(const cv::Mat &image)
{
if (_logFile.is_open())
{
time_t seed = time(NULL);
srand(static_cast<uint>(seed));
_logFile << "Random Seed: " << seed << std::endl << std::endl;
_logFile << "~~~~~~~~~~~~ STEP " << _ekfSteps << " ~~~~~~~~~~~~" << std::endl;
}
ExtendedKalmanFilterParameters *ekfParams = ConfigurationManager::getInstance().ekfParams;
initState(state);
state.mapFeatures.reserve(ekfParams->reserveFeaturesDepth);
state.mapFeaturesDepth.reserve(ekfParams->reserveFeaturesDepth);
state.mapFeaturesInvDepth.reserve(ekfParams->reserveFeaturesInvDepth);
initCovariance(stateCovarianceMatrix);
// Detectar features en la imagen
VectorFeatureMatch noMatches; // Al principio no tiene nada ya que no hay matches
VectorImageFeaturePrediction noPredictions;
VectorImageFeatureMeasurement newFeatureMeasurements;
detectNewImageFeatures(image, noPredictions, ekfParams->minMatchesPerImage, newFeatureMeasurements);
#ifdef DEBUG_SHOW_IMAGES
cv::Mat imageWithKeypoints;
image.copyTo(imageWithKeypoints);
for (uint i = 0; i < newFeatureMeasurements.size(); ++i)
{
drawPoint(imageWithKeypoints, newFeatureMeasurements[i]->imagePos, cv::Scalar(0, 0, 255));
}
std::cout << std::endl;
std::string windowName = "Features detectados en la primer imagen (";
std::stringstream convert;
convert << newFeatureMeasurements.size();
windowName += convert.str();
windowName += ")";
cv::namedWindow(windowName);
cv::imshow(windowName, imageWithKeypoints);
cv::waitKey(0);
cv::destroyWindow(windowName);
#endif
// Agregar los features nuevos al estado
addFeaturesToStateAndCovariance(newFeatureMeasurements, state, stateCovarianceMatrix);
size_t newFeatureMeasurementsSize = newFeatureMeasurements.size();
for (uint i = 0; i < newFeatureMeasurementsSize; ++i)
{
delete newFeatureMeasurements[i];
}
if (_logFile.is_open())
{
state.showDetailed(_logFile);
}
}
void main(void) {
unsigned char i,j;
/* Output configurations */
ADCON1 |= 0x0F; // All possible analog input pins config as digital I/O
CMCON = 0x07; // Comparators disabled
/* Natural interaction expansion port configuration */
TRISAbits.TRISA4 = 1; // A4 Botton 3
TRISAbits.TRISA3 = 1; // A3 Botton 2
TRISAbits.TRISA2 = 1; // A2 Botton 1
TRISAbits.TRISA1 = 1; // A1 Potentiometer 2
TRISAbits.TRISA0 = 1; // A0 Potentiometer 1
TRISB = 0; // B0..B6 Serial input for the Shift Registers
TRISD = 0; // D0..D3 Shift Registers control inputs: SCK, RCK, _SCL, _G
TRISEbits.TRISE0 = 1; //Input button PORTEbits.RE0
LATA = 0; // Disable expansion port
_SCL = 1; // Disable Shift Register _SCL (Global Clear)
_G = 0; // Enables Shift Regusters outputs _G
// Resetting variables
for (i = 0; i <= MAX_INDEX_G_BUFFER_GREYSCALE; i++) {
gBufferGreyscale[i] = 0;
gPreBufferGreyscale[i] = 0;
}
for (i = 0; i <= MAX_INDEX_M_BUFFER_MATRIX; i++) {
mBufferMatrix[i] = RESET_M_BUFFER_MATRIX;
}
iGreyscale = 0;
iTimer1 = 0;
iMenu = 0;
FIRST = 0;
SECOND = 0;
THIRD = 0;
FOURTH = 0;
FIFTH = 0;
SIXTH = 0;
pwm = 0;
/* Timer 0 Configuration */
// Used to trigger the refresh matrix printed data routine
OpenTimer0(TIMER_INT_ON & T0_8BIT & T0_SOURCE_INT & T0_PS_1_1);
WriteTimer0(0);
/* Timer 1 Configuration */
// Used to periodically check the input data (external buttons)
OpenTimer1(TIMER_INT_ON & T1_SOURCE_INT & T1_PS_1_8 & T1_OSC1EN_OFF & T1_SYNC_EXT_OFF);
WriteTimer1( 0x00 & 0x00 );
/* Timer 3 Configuration */
// Used to create delays within the different menus without blocking with delays
OpenTimer3( TIMER_INT_ON & T3_16BIT_RW & T3_SOURCE_INT & T3_PS_1_8 & T3_SYNC_EXT_OFF);
WriteTimer3( 0x00 & 0x00 );
/* A/D configuration */
//ADCON1
ADCON1bits.VCFG1 = 0; // Voltage Reference Configuration bit (Vref-) = Vss
ADCON1bits.VCFG0 = 0; // Voltage Reference Configuration bit (Vref+) = Vdd
ADCON1bits.PCFG3 = 1; // PCFG = "1110" enables AN0 and AN1
ADCON1bits.PCFG2 = 1;
ADCON1bits.PCFG1 = 1;
ADCON1bits.PCFG0 = 0;
//ADCON0
ADCON0bits.ADON = 1; // A/D converter module is enabled
ADCON0bits.CHS0 = 0; // CHS = "0000" AN0 selected
ADCON0bits.CHS1 = 0;
ADCON0bits.CHS2 = 0;
ADCON0bits.CHS3 = 0;
//ADCON2
ADCON2bits.ADCS0 = 0; // A/D Adquisition Clock Select bits
ADCON2bits.ADCS1 = 1; // Tad = conversion time per bit. The A/D conversion requires 11 Tad
ADCON2bits.ADCS2 = 0; // "010" = 32 * Tosc
ADCON2bits.ACQT0 = 0; // A/D Adquisition time bits "000" = Manual adquisition
ADCON2bits.ACQT1 = 0;
ADCON2bits.ACQT2 = 0;
ADCON2bits.ADFM = 0; // Left justified . . .ADRESH . . : . . ADRESL. . .
// 7 6 5 4 3 2 1 0 : 7 6 5 4 3 2 1 0
// X X X X X X X X . X X . . . . . . <-Left Justified
/* Enabling interrups */
INTCONbits.TMR0IE = 1; // Enables interrupts for TIMER0
PIE1bits.TMR1IE = 1; // Enables interrupts for TIMER1
PIE2bits.TMR3IE = 1; // Enables interrupts for TIMER3
INTCONbits.PEIE = 1; // Peripherial interrupt enabled
INTCONbits.GIE = 1; // Global interrupt enabled
/* Main Loop */
while(1)
{
/* Main MENU includes the different modes that the table can show
Switching between menus is done using external button(RE0):
0 - Fixed light dimmed with external control
1 - Slow square
2 - Slow chess board
3 - Message
4 - Invaders
5 - Party (Dirty)
*/
switch(iMenu) {
/******************************************************************/
/* 0 - Fixed light dimmed with external control */
/******************************************************************/
case 0:
if (FIRST == 0) {
deleteMatrix();
(FIRST = 1);
}
drawLine(1,1,1,5,pwm); //dirty way to draw the all pixels at the same time
drawLine(2,1,2,5,pwm);
drawLine(3,1,3,5,pwm);
drawLine(4,1,4,5,pwm);
drawLine(5,1,5,5,pwm);
break;
/******************/
/* 1- Slow square */
/******************/
case 1:
if (SECOND == 0) {
deleteMatrix();
(SECOND = 1);
}
for(j = 130, i = 254; j<=254; j++, i--) {
drawSquare(1,1,5,5,j);
drawSquare(2,2,4,4,i);
drawPoint(3,3,j);
Delay10KTCYx(100);
if(iMenu != 1) {
break;
}
}
if(iMenu != 1) {
break;
}
for(j = 130, i = 254; j<=254; j++, i--) {
drawSquare(1,1,5,5,i);
drawSquare(2,2,4,4,j);
drawPoint(3,3,i);
Delay10KTCYx(100);
if(iMenu != 1) {
break;
}
}
if(iMenu != 1) {
break; // It allows to break the case during the executation
}
/***********************/
/* 2- Slow Chess board */
/***********************/
case 2:
if (THIRD == 0) {
deleteMatrix();
(THIRD = 1);
}
for(j = 130, i = 254; j<=254; j++, i--) {
drawPoint(1,5,j);
drawLine(1,3,3,5,j);
drawLine(1,1,5,5,j);
drawLine(3,1,5,3,j);
drawPoint(5,1,j);
drawLine(1,4,2,5,i);
drawLine(1,2,4,5,i);
drawLine(2,1,5,4,i);
drawLine(4,1,5,2,i);
Delay10KTCYx(100);
if(iMenu != 2) {
break;
}
}
if(iMenu != 2) {
break;
}
for(j = 130, i = 254; j<=254; j++, i--) {
drawPoint(1,5,i);
drawLine(1,3,3,5,i);
drawLine(1,1,5,5,i);
drawLine(3,1,5,3,i);
drawPoint(5,1,i);
drawLine(1,4,2,5,j);
drawLine(1,2,4,5,j);
drawLine(2,1,5,4,j);
drawLine(4,1,5,2,j);
Delay10KTCYx(100);
if(iMenu != 2) {
break;
}
}
if(iMenu != 2) {
break; // It allows to break the case during the executation
}
/**************/
/* 3- Message */
/**************/
case 3:
if (FOURTH == 0) {
deleteMatrix();
(FOURTH = 1);
}
//knightRider(4);
scrollText((rom unsigned char *)&Nino[0], TRANS_RIGHT_2_LEFT);
break;
/***************/
/* 4- Invaders */
/***************/
case 4:
if (FIFTH == 0) {
deleteMatrix();
(FIFTH = 1);
}
for(i = 1; i <= INVADERS_PAIR_REPETITIONS; i++) {
drawFrame((rom unsigned char *)&invaders[0]);
Delay10KTCYx(DELAY_INVADERS);
if(iMenu != 4) {
break;
}
drawFrame((rom unsigned char *)&invaders[1]);
Delay10KTCYx(DELAY_INVADERS);
if(iMenu != 4) {
break;
}
}// end for
for(i = 1; i <= INVADERS_PAIR_REPETITIONS; i++) {
drawFrame((rom unsigned char *)&invaders[2]);
Delay10KTCYx(DELAY_INVADERS);
if(iMenu != 4) {
break;
}
drawFrame((rom unsigned char *)&invaders[3]);
Delay10KTCYx(DELAY_INVADERS);
if(iMenu != 4) {
break;
}
}// end for
for(i = 1; i <= INVADERS_PAIR_REPETITIONS; i++) {
drawFrame((rom unsigned char *)&invaders[4]);
Delay10KTCYx(DELAY_INVADERS);
if(iMenu != 4) {
break;
}
drawFrame((rom unsigned char *)&invaders[5]);
Delay10KTCYx(DELAY_INVADERS);
if(iMenu != 4) {
break;
}
}// end for
break;
/********************/
/* 5- Party (Dirty) */
/********************/
case 5:
if (SIXTH == 0) {
deleteMatrix();
drawLine(1,5,5,5,254);
}
for(j = 100, i = 254; j<=254; j++, i--) {
drawSquare(1,1,5,5,j);
drawSquare(2,2,4,4,i);
drawPoint(3,3,j);
if(iMenu != 5) {
break;
}
}
if(iMenu != 5) {
break;
}
for(j = 100, i = 254; j<=254; j++, i--) {
drawSquare(1,1,5,5,i);
drawSquare(2,2,4,4,j);
drawPoint(3,3,i);
if(iMenu != 5) {
break;
}
}
if(iMenu != 5) {
break; // It allows to break the case during the executation
}
//SOLVES A BUG: because when TMR1F is called from this case, FIFTH is
//reset but when we come back is set one because we are in case 4 not 1,
if (iMenu == 5)(SIXTH = 1);
break;
default:
drawPoint(3,3, 180);
}// End switch iMenu
}// End while
CloseTimer0();
CloseTimer1();
}//end main
static void lvDisplay(void) {
glClear(GL_COLOR_BUFFER_BIT);
applyTransforms();
glScalef(scale, scale, scale);
glColor3f(0.25f, 0.25f, 0.25f);
glLineWidth(2);
drawLine(-lvWidth-lvTransX, 0, lvWidth-lvTransX, 0);
drawLine(0, -lvHeight-lvTransY, 0, lvHeight-lvTransY);
glLineWidth(1);
lsystem.Draw();
// Draw image planes
glColor3f(1.0, 0.0, 1.0);
glLineWidth(2);
drawLine(lsystem.iPlane, lsystem.maxAperture()/2, lsystem.iPlane, -lsystem.maxAperture()/2);
drawText(lsystem.iPlane - 1, -lsystem.maxAperture()/2 - 5, SBFONT, "I");
drawLine(zDist, lsystem.maxAperture()/2, zDist, -lsystem.maxAperture()/2);
drawText(zDist - 1, -lsystem.maxAperture()/2 - 5, SBFONT, "O");
// Trace rays through lens system
glColor3f(0.0, 0.0, 1.0);
glLineWidth(1);
for (int i = -9; i < 10; i++)
{
Ray rayv = Ray(Point(0, iPlaneY, lsystem.iPlane), Vector(0, lsystem.pupil.y/2 * (float) i/9 - iPlaneY, lsystem.pupil.z - lsystem.iPlane));
Ray& rays = rayv;
lsystem.Trace(rays, new Ray());
}
//lsystem.findExitPupil();
//lsystem.recalAper();
//lsystem.findF();
//lsystem.findFp();
//lsystem.refocus(zDist, -1);
//Draw principal axes
glColor3f(0.0, 1.0, 0.0);
glLineWidth(2);
drawLine(lsystem.pupil.z, lsystem.pupil.y/2, lsystem.pupil.z, (lsystem.pupil.y+lsystem.maxAperture()) / 2);
drawLine(lsystem.pupil.z, -lsystem.pupil.y/2, lsystem.pupil.z, (-lsystem.pupil.y-lsystem.maxAperture()) / 2);
drawText(lsystem.pupil.z, (-lsystem.pupil.y-lsystem.maxAperture()) / 2 - 5, SBFONT, "ep");
//Draw principal axes
glColor3f(1.0, 0.0, 0.0);
glLineWidth(2);
drawLine(lsystem.p2, lsystem.maxAperture()/2, lsystem.p2, -lsystem.maxAperture()/2);
drawText(lsystem.p2 - 1, -lsystem.maxAperture()/2 - 5, SBFONT, "P'");
drawLine(lsystem.p1, lsystem.maxAperture()/2, lsystem.p1, -lsystem.maxAperture()/2);
drawText(lsystem.p1 - 1, -lsystem.maxAperture()/2 - 5, SBFONT, "P");
//Draw focal planes
glColor3f(1.0, 1.0, 0.0);
drawPoint(5, lsystem.f1, 0);
drawText(lsystem.f1 - 1, -5, SBFONT, "F");
drawPoint(5, lsystem.f2, 0);
drawText(lsystem.f2 - 1, -5, SBFONT, "F'");
glMatrixMode(GL_PROJECTION); glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, lvWidth, lvHeight, 0);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
drawSquare(0.25f, 0.25f, 0.25f, 0, 0, lvWidth, BARH);
drawSquare(0.25f, 0.25f, 0.25f, 0, lvHeight, lvWidth, lvHeight-BARH);
glLoadIdentity();
gluOrtho2D(-lvWidth, lvWidth, lvHeight, -lvHeight);
glColor3f(0, 1, 1);
drawText(-lvWidth + 15, -lvTransY*lvZoom - 8, SBFONT, "+z");
drawText(lvWidth - 50, -lvTransY*lvZoom - 8, SBFONT, "-z");
drawText(-lvTransX*lvZoom, -lvHeight + 75, SBFONT, "+y");
drawText(-lvTransX*lvZoom, lvHeight - 65, SBFONT, "-y");
glColor3f(1, 1, 1);
const char* mode = lsystem.M == precise ? "precise" : "thick";
lvText(9, lvHeight-16, SBFONT, 0, "fstop %1.1f (aperture %1.1fmm) | "
"object %1.1fmm | image %1.1fmm | mode: %s",
lsystem.fstop,lsystem.getAperture()->aper,zDist,lsystem.iPlane, mode);
lvText(9, 8, SBFONT, 0, "F %1.1fmm | F' %1.1fmm | P %1.1fmm | "
"P' %1.1fmm | exit pupil (%1.1fmm, %1.1fmm)",
lsystem.f1,lsystem.f2,lsystem.p1,lsystem.p2,lsystem.pupil.z,lsystem.pupil.y);
glPopMatrix();
glutSwapBuffers();
}
//FIXME: Do we really need two versions of all of this code? (int/float)
void SkyQPainter::drawDeepSkySymbol(const QPointF &pos, int type, float size, float e, float positionAngle)
{
float x = pos.x();
float y = pos.y();
float zoom = Options::zoomFactor();
int isize = int(size);
float dx1 = -0.5*size;
float dx2 = 0.5*size;
float dy1 = -1.0*e*size/2.;
float dy2 = e*size/2.;
float x1 = x + dx1;
float x2 = x + dx2;
float y1 = y + dy1;
float y2 = y + dy2;
float dxa = -size/4.;
float dxb = size/4.;
float dya = -1.0*e*size/4.;
float dyb = e*size/4.;
float xa = x + dxa;
float xb = x + dxb;
float ya = y + dya;
float yb = y + dyb;
float psize;
QBrush tempBrush;
switch ( type ) {
case 0:
case 1: //catalog star
//Some NGC/IC objects are stars...changed their type to 1 (was double star)
if (size<2.) size = 2.;
if ( Options::useAntialias() )
drawEllipse( QRectF(x1, y1, size/2., size/2.) );
else
drawEllipse( QRect(int(x1), int(y1), int(size/2), int(size/2)) );
break;
case 2: //Planet
break;
case 3: //Open cluster; draw circle of points
case 13: // Asterism
tempBrush = brush();
setBrush( pen().color() );
psize = 2.;
if ( size > 50. ) psize *= 2.;
if ( size > 100. ) psize *= 2.;
if ( Options::useAntialias() ) {
drawEllipse( QRectF(xa, y1, psize, psize) );
drawEllipse( QRectF(xb, y1, psize, psize) );
drawEllipse( QRectF(xa, y2, psize, psize) );
drawEllipse( QRectF(xb, y2, psize, psize) );
drawEllipse( QRectF(x1, ya, psize, psize) );
drawEllipse( QRectF(x1, yb, psize, psize) );
drawEllipse( QRectF(x2, ya, psize, psize) );
drawEllipse( QRectF(x2, yb, psize, psize) );
} else {
int ix1 = int(x1); int iy1 = int(y1);
int ix2 = int(x2); int iy2 = int(y2);
int ixa = int(xa); int iya = int(ya);
int ixb = int(xb); int iyb = int(yb);
drawEllipse( QRect(ixa, iy1, int(psize), int(psize)) );
drawEllipse( QRect(ixb, iy1, int(psize), int(psize)) );
drawEllipse( QRect(ixa, iy2, int(psize), int(psize)) );
drawEllipse( QRect(ixb, iy2, int(psize), int(psize)) );
drawEllipse( QRect(ix1, iya, int(psize), int(psize)) );
drawEllipse( QRect(ix1, iyb, int(psize), int(psize)) );
drawEllipse( QRect(ix2, iya, int(psize), int(psize)) );
drawEllipse( QRect(ix2, iyb, int(psize), int(psize)) );
}
setBrush( tempBrush );
break;
case 4: //Globular Cluster
if (size<2.) size = 2.;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
if ( Options::useAntialias() ) {
drawEllipse( QRectF(dx1, dy1, size, e*size) );
drawLine( QPointF(0., dy1), QPointF(0., dy2) );
drawLine( QPointF(dx1, 0.), QPointF(dx2, 0.) );
restore(); //reset coordinate system
} else {
int idx1 = int(dx1); int idy1 = int(dy1);
int idx2 = int(dx2); int idy2 = int(dy2);
drawEllipse( QRect(idx1, idy1, isize, int(e*size)) );
drawLine( QPoint(0, idy1), QPoint(0, idy2) );
drawLine( QPoint(idx1, 0), QPoint(idx2, 0) );
restore(); //reset coordinate system
}
break;
case 5: //Gaseous Nebula
case 15: // Dark Nebula
if (size <2.) size = 2.;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
if ( Options::useAntialias() ) {
drawLine( QPointF(dx1, dy1), QPointF(dx2, dy1) );
drawLine( QPointF(dx2, dy1), QPointF(dx2, dy2) );
drawLine( QPointF(dx2, dy2), QPointF(dx1, dy2) );
drawLine( QPointF(dx1, dy2), QPointF(dx1, dy1) );
} else {
int idx1 = int(dx1); int idy1 = int(dy1);
int idx2 = int(dx2); int idy2 = int(dy2);
drawLine( QPoint(idx1, idy1), QPoint(idx2, idy1) );
drawLine( QPoint(idx2, idy1), QPoint(idx2, idy2) );
drawLine( QPoint(idx2, idy2), QPoint(idx1, idy2) );
drawLine( QPoint(idx1, idy2), QPoint(idx1, idy1) );
}
restore(); //reset coordinate system
break;
case 6: //Planetary Nebula
if (size<2.) size = 2.;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
if ( Options::useAntialias() ) {
drawEllipse( QRectF(dx1, dy1, size, e*size) );
drawLine( QPointF(0., dy1), QPointF(0., dy1 - e*size/2. ) );
drawLine( QPointF(0., dy2), QPointF(0., dy2 + e*size/2. ) );
drawLine( QPointF(dx1, 0.), QPointF(dx1 - size/2., 0.) );
drawLine( QPointF(dx2, 0.), QPointF(dx2 + size/2., 0.) );
} else {
int idx1 = int(dx1); int idy1 = int(dy1);
int idx2 = int(dx2); int idy2 = int(dy2);
drawEllipse( QRect( idx1, idy1, isize, int(e*size) ) );
drawLine( QPoint(0, idy1), QPoint(0, idy1 - int(e*size/2) ) );
drawLine( QPoint(0, idy2), QPoint(0, idy2 + int(e*size/2) ) );
drawLine( QPoint(idx1, 0), QPoint(idx1 - int(size/2), 0) );
drawLine( QPoint(idx2, 0), QPoint(idx2 + int(size/2), 0) );
}
restore(); //reset coordinate system
break;
case 7: //Supernova remnant
if (size<2) size = 2;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
if ( Options::useAntialias() ) {
drawLine( QPointF(0., dy1), QPointF(dx2, 0.) );
drawLine( QPointF(dx2, 0.), QPointF(0., dy2) );
drawLine( QPointF(0., dy2), QPointF(dx1, 0.) );
drawLine( QPointF(dx1, 0.), QPointF(0., dy1) );
} else {
int idx1 = int(dx1); int idy1 = int(dy1);
int idx2 = int(dx2); int idy2 = int(dy2);
drawLine( QPoint(0, idy1), QPoint(idx2, 0) );
drawLine( QPoint(idx2, 0), QPoint(0, idy2) );
drawLine( QPoint(0, idy2), QPoint(idx1, 0) );
drawLine( QPoint(idx1, 0), QPoint(0, idy1) );
}
restore(); //reset coordinate system
break;
case 8: //Galaxy
case 16: // Quasar
if ( size <1. && zoom > 20*MINZOOM ) size = 3.; //force ellipse above zoomFactor 20
if ( size <1. && zoom > 5*MINZOOM ) size = 1.; //force points above zoomFactor 5
if ( size>2. ) {
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
if ( Options::useAntialias() ) {
drawEllipse( QRectF(dx1, dy1, size, e*size) );
} else {
int idx1 = int(dx1); int idy1 = int(dy1);
drawEllipse( QRect(idx1, idy1, isize, int(e*size)) );
}
restore(); //reset coordinate system
} else if ( size>0. ) {
drawPoint( QPointF(x, y) );
}
break;
case 14: // Galaxy cluster - draw a circle of + marks
tempBrush = brush();
setBrush( pen().color() );
psize = 1.;
if ( size > 50. ) psize *= 2.;
if ( Options::useAntialias() ) {
drawLine( QLineF( xa - psize, y1, xa + psize, y1 ) );
drawLine( QLineF( xa, y1 - psize, xa, y1 + psize ) );
drawLine( QLineF( xb - psize, y1, xb + psize, y1 ) );
drawLine( QLineF( xb, y1 - psize, xb, y1 + psize ) );
drawLine( QLineF( xa - psize, y2, xa + psize, y2 ) );
drawLine( QLineF( xa, y2 - psize, xa, y2 + psize ) );
drawLine( QLineF( xb - psize, y2, xb + psize, y2 ) );
drawLine( QLineF( xb, y2 - psize, xb, y2 + psize ) );
drawLine( QLineF( x1 - psize, ya, x1 + psize, ya ) );
drawLine( QLineF( x1, ya - psize, x1, ya + psize ) );
drawLine( QLineF( x1 - psize, yb, x1 + psize, yb ) );
drawLine( QLineF( x1, yb - psize, x1, yb + psize ) );
drawLine( QLineF( x2 - psize, ya, x2 + psize, ya ) );
drawLine( QLineF( x2, ya - psize, x2, ya + psize ) );
drawLine( QLineF( x2 - psize, yb, x2 + psize, yb ) );
drawLine( QLineF( x2, yb - psize, x2, yb + psize ) );
} else {
int ix1 = int(x1); int iy1 = int(y1);
int ix2 = int(x2); int iy2 = int(y2);
int ixa = int(xa); int iya = int(ya);
int ixb = int(xb); int iyb = int(yb);
drawLine( QLineF( ixa - int(psize), iy1, ixa + int(psize), iy1 ) );
drawLine( QLineF( ixa, iy1 - int(psize), ixa, iy1 + int(psize) ) );
drawLine( QLineF( ixb - int(psize), iy1, ixb + int(psize), iy1 ) );
drawLine( QLineF( ixb, iy1 - int(psize), ixb, iy1 + int(psize) ) );
drawLine( QLineF( ixa - int(psize), iy2, ixa + int(psize), iy2 ) );
drawLine( QLineF( ixa, iy2 - int(psize), ixa, iy2 + int(psize) ) );
drawLine( QLineF( ixb - int(psize), iy2, ixb + int(psize), iy2 ) );
drawLine( QLineF( ixb, iy2 - int(psize), ixb, iy2 + int(psize) ) );
drawLine( QLineF( ix1 - int(psize), iya, ix1 + int(psize), iya ) );
drawLine( QLineF( ix1, iya - int(psize), ix1, iya + int(psize) ) );
drawLine( QLineF( ix1 - int(psize), iyb, ix1 + int(psize), iyb ) );
drawLine( QLineF( ix1, iyb - int(psize), ix1, iyb + int(psize) ) );
drawLine( QLineF( ix2 - int(psize), iya, ix2 + int(psize), iya ) );
drawLine( QLineF( ix2, iya - int(psize), ix2, iya + int(psize) ) );
drawLine( QLineF( ix2 - int(psize), iyb, ix2 + int(psize), iyb ) );
drawLine( QLineF( ix2, iyb - int(psize), ix2, iyb + int(psize) ) );
}
setBrush( tempBrush );
break;
}
}
/**
* @function showCorrespondences
*/
void Tensor3D::showCorrespondences() {
// Create images
mCorrImages.resize(0);
for( int i = 0; i < mRgbImages.size(); ++i ) {
cv::Mat image = mRgbImages[i].clone();
mCorrImages.push_back(image);
}
cv::Scalar color;
// Draw PPP
for( int i = 0; i < mPPP.size(); ++i ) {
color = cv::Scalar( mRng.uniform(0, 255), mRng.uniform(0,255), mRng.uniform(0,255) );
drawPoint( mPPP[i][0], mCorrImages[0], color );
drawPoint( mPPP[i][1], mCorrImages[1], color );
drawPoint( mPPP[i][2], mCorrImages[2], color );
}
// Draw LLL
for( int i = 0; i < mLLL.size(); ++i ) {
color = cv::Scalar( mRng.uniform(0, 255), mRng.uniform(0,255), mRng.uniform(0,255) );
drawLine( mLLL[i][0], mCorrImages[0], color );
drawLine( mLLL[i][1], mCorrImages[1], color );
drawLine( mLLL[i][2], mCorrImages[2], color );
}
// Draw PLP
for( int i = 0; i < mPLP.size(); ++i ) {
color = cv::Scalar( mRng.uniform(0, 255), mRng.uniform(0,255), mRng.uniform(0,255) );
drawPoint( mPLP[i][0], mCorrImages[0], color );
drawLine( mPLP[i][1], mCorrImages[1], color );
drawPoint( mPLP[i][2], mCorrImages[2], color );
}
// Draw PLL
for( int i = 0; i < mPLL.size(); ++i ) {
color = cv::Scalar( mRng.uniform(0, 255), mRng.uniform(0,255), mRng.uniform(0,255) );
drawPoint( mPLL[i][0], mCorrImages[0], color );
drawLine( mPLL[i][1], mCorrImages[1], color );
drawLine( mPLL[i][2], mCorrImages[2], color );
}
// Draw CorrImages
for( int i = 0; i < mCorrImages.size(); ++i ) {
char windowName[50];
int n = sprintf( windowName, "Corresp-%d", i );
cv::namedWindow( windowName, CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO );
cv::imshow( windowName, mCorrImages[i] );
}
// Press a key to keep with the program
int key;
while( true ) {
key = cv::waitKey(30);
if( key != -1 ) {
break;
}
}
}
void runGameplay(GameVars* gameVars)
{
//GAME
//Draw the court
drawCourt();
//Draw the scores
drawScores(gameVars);
//Game play states
switch (gameVars->gameState) {
case GSGameStart:
{
#ifdef DEBUG
debugPrint("START\x80");
#endif
//Draw Ready message
drawReady(0x80);
//Wait for a number of frames
waitForFramesThenMoveOnToNextState(60, gameVars);
}
break;
case GSWaitForServe:
{
#ifdef DEBUG
debugPrint("SERVE\x80");
#endif
//Score max?
if (gameVars->player1.score >= maxScoreForPlayer
|| gameVars->player2.score >= maxScoreForPlayer)
{
//Served - move to next state
moveToNextGameState(gameVars, GEWinner);
return;
}
//Draw player paddles
movePaddles(gameVars);
//Inform who is about to serve
drawServe(gameVars->player1ServeNext);
//wait for user to start game with button 4
readButton();
//Player 1 Button 4 or P2 Button 4
if (
(gameVars->player1ServeNext && (_BTN_CUR_MASK & _JOY1_B4))
||
(!gameVars->player1ServeNext && (_BTN_CUR_MASK & _JOY2_B4))
)
{
//Position the ball and make visible
serve(gameVars);
//Served - move to next state
moveToNextGameState(gameVars, GENone);
}
}
break;
case GSPlay:
{
#ifdef DEBUG
debugPrint("PLAY\x80");
#endif
//GAME PLAY ACTION
drawCenterLine(gameVars);
//Draw player paddles
movePaddles(gameVars);
//Only deal with visible balls
if(gameVars->ball.visibility == false) return;
//Move ball - check for goal
moveBallSprite(gameVars);
}
break;
case GSScored:
{
#ifdef DEBUG
debugPrint("SCORED\x80");
#endif
//Goal!
drawPoint(!gameVars->player1ServeNext);
waitForFramesThenMoveOnToNextState(60, gameVars);
}
break;
case GSGameOver:
{
#ifdef DEBUG
debugPrint("GAMEOVER\x80");
#endif
//Display 'Game Over'
drawGameOver(gameVars->player1.score > gameVars->player2.score);
//wait for user to select replay or menu
readButton();
//Player 1 Button 1
if (_BTN_CUR_MASK & _JOY1_B1)
{
//Reset scores
resetPlayerScores(gameVars);
//Replay - move to next state
moveToNextGameState(gameVars, GEPlayAgain);
}
else if (_BTN_CUR_MASK & _JOY1_B2)
{
//Reset scores
resetPlayerScores(gameVars);
//Menu - move to next state
moveToNextGameState(gameVars, GEBackToMenu);
}
}
break;
default:
break;
}
}
//----------------------------------------------------------------------------------------------------------------------
void SMCAgentViz::update()
{
glDisable(GL_DEPTH_TEST);
// data
const ci::Vec2f& pos = m_agent->getPosition();
float angle = m_agent->getAngle();
// Update trajectory
if(!m_paused && m_steps % 2 == 0){
m_traj.push_back(pos);
if(m_traj.size() >= 800)
{
m_traj.pop_front();
}
}
m_steps++;
// pose
m_pTM->setToIdentity();
m_pTM->setTranslate(ci::Vec3f(pos));
m_pTM->rotate(ci::Vec3f(0.0f, 0.0f, 1.0f), angle);
NodeGroup::update();
// draw
glPushAttrib(GL_LIGHTING);
glDisable(GL_LIGHTING);
// Trajectory
ci::ColorA trajCol (235.0/255.0, 89.0/255.0, 55.0/255.0, 1.0);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
int numPoints = m_traj.size();
float lineVerts[numPoints*2];
float colors[numPoints*4];
glVertexPointer(2, GL_FLOAT, 0, lineVerts); // 2d positions
glColorPointer(4, GL_FLOAT, 0, colors); // 4d colors
for(size_t i = 0; i < numPoints; i++)
{
lineVerts[i*2 + 0] = m_traj[i].x;
lineVerts[i*2 + 1] = m_traj[i].y;
float a = (float)i / (float)numPoints;
colors[i*4 + 0] = trajCol[0];
colors[i*4 + 1] = trajCol[1];
colors[i*4 + 2] = trajCol[2];
colors[i*4 + 3] = a;
}
glLineWidth(2.0);
glDrawArrays( GL_LINE_STRIP, 0, numPoints);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glLineWidth(1.0);
// This is in world space
glColor3f(0, 0, 0);
const float velScale = 0.1f;
glLineWidth(2.0);
ci::gl::drawLine(m_agent->getPosition(), m_agent->getPosition() + m_agent->getVelocity() * velScale);
glLineWidth(1.0);
if(m_agent->hasDistanceSensor())
{
DistanceSensor* sensor = m_agent->getDistanceSensor();
float sensedDistance = sensor->getDistance();
glEnable(GL_LINE_STIPPLE);
glLineStipple(2, 0xAAAA);
glColor3f(0.2, 0.2, 0.2);
ci::gl::drawLine(sensor->getPosition(), sensor->getPosition() + sensor->getDirection() * sensedDistance);
glDisable(GL_LINE_STIPPLE);
glColor3f(1,0,0);
if(sensedDistance < sensor->getMaxDistance())
{
drawPoint(ci::Vec3f(sensor->getCollision()), 5.0f);
}
// Sensor in local space
glPushMatrix();
glMultMatrixf(*m_pTM);
glTranslatef(m_agent->getRadius(), 0, 0.001);
float act = m_agent->getDistanceSensor()->getDistanceProportional();
glColor3f(act,act,act);
drawDisk(m_agent->getRadius() / 4.0, 0, 16, 2, GLU_FILL);
glColor3f(0,0,0);
drawDisk(m_agent->getRadius() / 4.0, 0, 16, 2, GLU_SILHOUETTE);
glPopMatrix();
}
if(m_agent->hasGradientSensor())
{
GradientSensor* sensor = m_agent->getGradientSensor();
float s = 1.0f - sensor->getActivation();
// Sensor in local space
glPushMatrix();
glTranslatef(sensor->getPosition().x, sensor->getPosition().y, 0.0);
glColor3f(s,s,s);
drawDisk(m_agent->getRadius() / 4.0, 0, 16, 2, GLU_FILL);
glColor3f(0,0,0);
drawDisk(m_agent->getRadius() / 4.0, 0, 16, 2, GLU_SILHOUETTE);
glPopMatrix();
}
if(m_agent->hasTorusSensor())
{
Sensor* sensor = m_agent->getTorusSensor();
float s = 1.0f - sensor->getActivation();
// Sensor in local space
glPushMatrix();
glTranslatef(sensor->getPosition().x, sensor->getPosition().y, 0.0);
glColor3f(s,s,s);
drawDisk(m_agent->getRadius() / 4.0, 0, 16, 2, GLU_FILL);
glColor3f(0,0,0);
drawDisk(m_agent->getRadius() / 4.0, 0, 16, 2, GLU_SILHOUETTE);
glPopMatrix();
}
// draw positional range
if(m_agent->positionWraps())
{
float p = m_agent->getMaxPosition();
ci::gl::drawStrokedRect(ci::Rectf(ci::Vec2f(-p,-p), ci::Vec2f(p,p)));
}
// Change body color depending on energy level
ci::Vec3f col = getColorMapRainbow(m_agent->getEnergy() / 5);
ci::Vec4f col4 = ci::Vec4f(col);
col4[3] = 0.5;
m_agentDisk->m_color = col4;
glPopAttrib();
glEnable(GL_DEPTH_TEST);
}
void SkyQPainter::drawDeepSkySymbol(const QPointF &pos, int type, float size, float e, float positionAngle)
{
float x = pos.x();
float y = pos.y();
float zoom = Options::zoomFactor();
int isize = int(size);
float dx1 = -0.5*size;
float dx2 = 0.5*size;
float dy1 = -1.0*e*size/2.;
float dy2 = e*size/2.;
float x1 = x + dx1;
float x2 = x + dx2;
float y1 = y + dy1;
float y2 = y + dy2;
float dxa = -size/4.;
float dxb = size/4.;
float dya = -1.0*e*size/4.;
float dyb = e*size/4.;
float xa = x + dxa;
float xb = x + dxb;
float ya = y + dya;
float yb = y + dyb;
QString color;
float psize;
QBrush tempBrush;
std::function<void( float, float, float, float )> lambdaDrawEllipse;
std::function<void( float, float, float, float )> lambdaDrawLine;
std::function<void( float, float, float, float )> lambdaDrawCross;
if ( Options::useAntialias() ) {
lambdaDrawEllipse = [this]( float x, float y, float width, float height ) {
drawEllipse( QRectF( x, y, width, height ) );
};
lambdaDrawLine = [this]( float x1, float y1, float x2, float y2 ) {
drawLine( QLineF( x1, y1, x2, y2 ) );
};
lambdaDrawCross = [this]( float centerX, float centerY, float sizeX, float sizeY ) {
drawLine( QLineF( centerX - sizeX/2., centerY, centerX + sizeX/2., centerY ) );
drawLine( QLineF( centerX, centerY - sizeY/2., centerX, centerY + sizeY/2. ) );
};
}
else {
lambdaDrawEllipse = [this]( float x, float y, float width, float height ) {
drawEllipse( QRect( x, y, width, height ) );
};
lambdaDrawLine = [this]( float x1, float y1, float x2, float y2 ) {
drawLine( QLine( x1, y1, x2, y2 ) );
};
lambdaDrawCross = [this]( float centerX, float centerY, float sizeX, float sizeY ) {
drawLine( QLine( centerX - sizeX/2., centerY, centerX + sizeX/2., centerY ) );
drawLine( QLine( centerX, centerY - sizeY/2., centerX, centerY + sizeY/2. ) );
};
}
switch ( type ) {
case 0:
case 1: //catalog star
//Some NGC/IC objects are stars...changed their type to 1 (was double star)
if (size<2.) size = 2.;
lambdaDrawEllipse( x1, y1, size/2., size/2. );
break;
case 2: //Planet
break;
case 3: //Open cluster; draw circle of points
case 13: { // Asterism
tempBrush = brush();
color = pen().color().name();
setBrush( pen().color() );
psize = 2.;
if ( size > 50. ) psize *= 2.;
if ( size > 100. ) psize *= 2.;
auto putDot = [this, psize, &lambdaDrawEllipse]( float x, float y ) {
lambdaDrawEllipse( x, y, psize, psize );
};
putDot( xa, y1 );
putDot( xb, y1 );
putDot( xa, y2 );
putDot( xb, y2 );
putDot( x1, ya );
putDot( x1, yb );
putDot( x2, ya );
putDot( x2, yb );
setBrush( tempBrush );
break;
}
case 4: //Globular Cluster
if (size<2.) size = 2.;
save();
translate( x, y );
color = pen().color().name();
rotate( positionAngle ); //rotate the coordinate system
lambdaDrawEllipse( dx1, dy1, size, e*size );
lambdaDrawCross( 0, 0, size, e*size );
restore(); //reset coordinate system
break;
case 5: //Gaseous Nebula
case 15: // Dark Nebula
if (size <2.) size = 2.;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
color = pen().color().name();
lambdaDrawLine( dx1, dy1, dx2, dy1 );
lambdaDrawLine( dx2, dy1, dx2, dy2 );
lambdaDrawLine( dx2, dy2, dx1, dy2 );
lambdaDrawLine( dx1, dy2, dx1, dy1 );
restore(); //reset coordinate system
break;
case 6: //Planetary Nebula
if (size<2.) size = 2.;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
color = pen().color().name();
lambdaDrawEllipse( dx1, dy1, size, e*size );
lambdaDrawLine( 0., dy1, 0., dy1 - e*size/2. );
lambdaDrawLine( 0., dy2, 0., dy2 + e*size/2. );
lambdaDrawLine( dx1, 0., dx1 - size/2., 0. );
lambdaDrawLine( dx2, 0., dx2 + size/2., 0. );
restore(); //reset coordinate system
break;
case 7: //Supernova remnant // FIXME: Why is SNR drawn different from a gaseous nebula?
if (size<2) size = 2;
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
color = pen().color().name();
lambdaDrawLine( 0., dy1, dx2, 0. );
lambdaDrawLine( dx2, 0., 0., dy2 );
lambdaDrawLine( 0., dy2, dx1, 0. );
lambdaDrawLine( dx1, 0., 0., dy1 );
restore(); //reset coordinate system
break;
case 8: //Galaxy
case 16: // Quasar
color = pen().color().name();
if ( size <1. && zoom > 20*MINZOOM ) size = 3.; //force ellipse above zoomFactor 20
if ( size <1. && zoom > 5*MINZOOM ) size = 1.; //force points above zoomFactor 5
if ( size>2. ) {
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
lambdaDrawEllipse( dx1, dy1, size, e*size );
restore(); //reset coordinate system
} else if ( size>0. ) {
drawPoint( QPointF(x, y) );
}
break;
case 14: { // Galaxy cluster - draw a dashed circle
tempBrush = brush();
setBrush( QBrush() );
psize = 1.;
if ( size > 50. ) psize *= 2.;
color = pen().color().name();
save();
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
QPen newPen = pen();
newPen.setStyle( Qt::DashLine );
setPen( newPen );
lambdaDrawEllipse( dx1, dy1, size, e*size );
restore();
setBrush( tempBrush );
break;
}
default: // Unknown object or something we don't know how to draw. Just draw an ellipse with a ?-mark
color = pen().color().name();
if ( size <1. && zoom > 20*MINZOOM ) size = 3.; //force ellipse above zoomFactor 20
if ( size <1. && zoom > 5*MINZOOM ) size = 1.; //force points above zoomFactor 5
if ( size>2. ) {
save();
QFont f = font();
const QString qMark = " ? ";
double scaleFactor = 0.8 * size / fontMetrics().width( qMark );
f.setPointSizeF( f.pointSizeF() * scaleFactor );
setFont( f );
translate( x, y );
rotate( positionAngle ); //rotate the coordinate system
lambdaDrawEllipse( dx1, dy1, size, e*size );
if ( Options::useAntialias() )
drawText( QRectF(dx1, dy1, size, e*size), Qt::AlignCenter, qMark );
else {
int idx1 = int(dx1); int idy1 = int(dy1);
drawText( QRect(idx1, idy1, isize, int(e*size)), Qt::AlignCenter, qMark );
}
restore(); //reset coordinate system (and font?)
}
else if ( size>0. ) {
if ( Options::useAntialias() )
drawPoint( QPointF(x, y) );
else
drawPoint( QPoint( x, y ) );
}
}
}
// рисует круг
void Form1::drawCircle(int R, int shiftX, int shiftY)
{
int x = 0, y = R, d = 2*(1-R), lim = 0;
int eps = 2;
canvas()->DrawEllipse(circlePen, shiftX - R - eps, shiftY - R - eps, 2*R, 2*R);
while(true)
{
drawPoint(shiftX + x, shiftY + y);
drawPoint(shiftX + x, shiftY - y);
drawPoint(shiftX - x, shiftY + y);
drawPoint(shiftX - x, shiftY - y);
int flag = 0;
if(y <= lim)
return;
else
{
flag = 0;
int temp = 0;
if(d < 0)
{
temp = 2*d + 2*y - 1;
if(temp <= 0)
flag = 2;
else
flag = 1;
}
else
{
if(d > 0)
{
temp = 2*d - 2*x - 1;
if(temp <= 0)
flag = 1;
else
flag = 0;
}
else
{
flag = 1;
}
}
}
switch(flag)
{
case 0:
y--;
d = d - 2*y + 1;
;break;
case 1:
y--;
x++;
d = d - 2*y + 2 + 2*x;
;break;
case 2:
x++;
d = d + 2*x + 1;
;break;
}
}
}
void drawLine(bsCurve cv) {
float x1, x2, y1, y2, sp, sp2;
float slope;
float newx, newy;
y1 = y2 = x1 = x2 = 0;
Vector3 red(1,0,0);
Vector3 green(0,1,0);
Vector3 color;
if (cv.ctype == 0)
color = red;
else
color = green;
for (int i = 0; i < cv.numctrlpts - 1; i++)
{
x1 = cv.ctrlpts[i].x;
y1 = cv.ctrlpts[i].y;
x2 = cv.ctrlpts[i + 1].x;
y2 = cv.ctrlpts[i + 1].y;
if(x1 == x2) {
if (y2 < y1) {
sp = y1;
y1 = y2;
y2 = sp;
}
for (int i = y1; i < y2; i++) {
drawPoint(x1, i, color);
}
}
else if(y1 == y2) {
if (x2 < x1) {
sp = x1;
x1 = x2;
x2 = sp;
}
for (int i = x1; i < x2; i++) {
drawPoint(i, y1, color);
}
}
else if ((y2-y1)/(x2-x1) <= 1 && (y2-y1)/(x2-x1) >= -1) {
if(x2 < x1) {
sp = x1;
sp2 = y1;
x1 = x2;
y1 = y2;
x2 = sp;
y2 = sp2;
}
slope = (y2-y1)/(x2-x1);
newy = y1;
for (int i = x1+1; i < x2; i++) {
newy += slope;
drawPoint(i, rounder(newy), color);
}
}
else if ((float)(y2-y1)/(x2-x1) > 1 || (float)(y2-y1)/(x2-x1) < -1) {
if(y2 < y1) {
sp = x1;
sp2 = y1;
x1 = x2;
y1 = y2;
x2 = sp;
y2 = sp2;
}
slope = (x2-x1)/(y2-y1);
newx = x1;
for (int i = y1 + 1; i < y2; i++) {
newx += slope;
drawPoint(rounder(newx), i, color);
}
}
}
}
void FeatureCoordinates::drawEllipse(cv::Mat& drawImg, const cv::Scalar& color, double scaleFactor, const bool withCenterPoint) const {
if(withCenterPoint) drawPoint(drawImg,color);
cv::ellipse(drawImg,get_c(),cv::Size(std::max(static_cast<int>(scaleFactor*sigma1_+0.5),1),std::max(static_cast<int>(scaleFactor*sigma2_+0.5),1)),sigmaAngle_*180/M_PI,0,360,color,1,8,0);
}
//--------------------------------------------------------------
void ofApp::draw(){
float lineHeight = ofMap(mouseY, 0, ofGetHeight(), 0, 2, true);
unicodeFont.setLineHeight(lineHeight);
float x = 30;
float y = 40;
string demoText = "This is my text in BitStream Vera font.";
float fontSize = 28;
// simple demo //////////////////////////////////////////////////////////
drawPoint(x, y); //draw insertion point
ofSetColor(255);
TIME_SAMPLE_START("simple draw");
font.draw(
demoText, //text to draw
fontSize, //font size
x, //x coord where to draw
y //y coord where to draw
);
TIME_SAMPLE_STOP("simple draw");
// bounding box demo ///////////////////////////////////////////////////
ofRectangle bbox;
ofRectangle bboxMultiline;
ofSetColor(255, 0, 0, 32);
TIME_SAMPLE_START("bbox");
bbox = font.getBBox( demoText, fontSize, x, y);
TIME_SAMPLE_STOP("bbox");
ofRect( bbox );
// draw multiline text /////////////////////////////////////////////////
y += 25 + bbox.height;
drawPoint(x, y); //draw insertion point
ofSetColor(255);
string s = (string)"ofxFontStash can draw multiline text" + "\n" +
"It also supports unicode strings: " + "\n" +
"槊監しゅ祟䤂לרפובליקה. אם מיזם 銆銌 憉 圩芰敔 तकनिकल कार्यलय";
TIME_SAMPLE_START("drawMultiLine");
unicodeFont.drawMultiLine( s, fontSize, x, y);
TIME_SAMPLE_STOP("drawMultiLine");
// multiline bbox /////////////////////////////////////////////////////
ofSetColor(0, 255, 0, 32);
TIME_SAMPLE_START("getBoundingBoxSize");
bboxMultiline = unicodeFont.getBBox( s, fontSize, x, y);
TIME_SAMPLE_STOP("getBoundingBoxSize");
ofRect( bboxMultiline );
// draw multiline column with a fixed width ///////////////////////////
y += 25 + bboxMultiline.height;
drawPoint(x, y); //draw insertion point
ofSetColor(255);
s = "And you can wrap text to a certain (mouseX) width:\n\nLorem ipsum dolor sit amet, consectetur adipisicing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam.";
//s = "international bananas";
int numLines = 0;
bool wordsWereCropped;
ofRectangle column;
TIME_SAMPLE_START("drawMultiLineColumn");
column = font.drawMultiLineColumn( s, /*string*/
fontSize, /*size*/
x, y, /*where*/
MAX( 10 ,mouseX - x), /*column width*/
numLines, /*get back the number of lines*/
false, /* if true, we wont draw (just get bbox back) */
5, /* max number of lines to draw, crop after that */
true, /*get the final text formatting (by adding \n's) in the supplied string;
BE ARWARE that using TRUE in here will modify your supplied string! */
&wordsWereCropped /* this bool will b set to true if the box was to small to fit all text*/
);
TIME_SAMPLE_STOP("drawMultiLineColumn");
//report if some words had to be cropped to fit in the column when using drawMultiLineColumn()
if(!wordsWereCropped) ofSetColor(255,32);
else (ofGetFrameNum()%6 <= 2) ? ofSetColor(255,32):ofSetColor(255,0,0,32); //flash if cropped
ofRect(column);
// batch drawing, optimized for multiple drawing calls /////////////////
y += column.height + 25;
drawPoint(x, y); //draw insertion point
ofSetColor(255);
TIME_SAMPLE_START("drawBatch");
font.beginBatch(); //call "begin" before drawing fonts
for (int i = 0; i < 5; i++){
font.drawBatch("batch mode #" + ofToString(i+1), fontSize, x, y + i * fontSize );
}
font.endBatch(); //call "end" once finished
TIME_SAMPLE_STOP("drawBatch");
// formatted text //////////////////////////////////////////////////////
string formattedText = "the #0xff0000 @1 %2.0 red %1.0 #0xffffff @0 apple is on the big %4.0 #0x00ff00 tree.";
ofPushMatrix();
ofTranslate(20,500);
ofSetColor(255);
ofVec2f size = font.drawMultiColumnFormatted(formattedText, 22, mouseX);
ofSetColor(255,10);
ofRect(0, 0, size.x, size.y);
ofPopMatrix();
// rotating text ///////////////////////////////////////////////////////
ofPushMatrix();
ofTranslate(x + 400, y + 50);
ofRotate( -200 * ofGetElapsedTimef(), 0, 0, 1);
ofSetColor(ofRandom(255), ofRandom(255), ofRandom(255));
font.draw("surrealismoooo!", fontSize, 0, 0 );
drawPoint(0,0);
ofPopMatrix();
// scaling text with mipmaps ///////////////////////////////////////////
ofPushMatrix();
ofTranslate(600, 40);
float scale = mouseY /(float) ofGetHeight();
ofPushMatrix();
ofScale(scale, scale);
ofSetColor(255);
unicodeFont.draw("MIPMAPS :)", fontSize * 2, 0, 0 );
drawPoint(0,0);
ofPopMatrix();
ofTranslate(0, 30);
ofScale(scale, scale);
font.draw("NO MIPMAPS :(", fontSize * 2, 0, 0 );
drawPoint(0,0);
ofPopMatrix();
}
#include <QDateTime>
#include <QFileDialog>
#include <QMessageBox>
#include <QTextEdit>
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent)
{
setupUi(this);
setWindowTitle(tr("GD CAD"));
newFile();
qApp->installEventFilter(this);
<<<<<<< HEAD
connect(ui->pointButton, SIGNAL(clicked()), this, SLOT(drawPoint()));
connect(ui->lineButton, SIGNAL(clicked()), this, SLOT(drawLine()));
connect(ui->circleButton, SIGNAL(clicked()), this, SLOT(drawCircle()));
connect(ui->ellipseButton, SIGNAL(clicked()), this, SLOT(drawEllipse()));
connect(ui->arcButton, SIGNAL(clicked()),this, SLOT(drawArc()));
connect(ui->polylineButton, SIGNAL(clicked()),this, SLOT(drawPolyline()));
connect(ui->actionPoints, SIGNAL(triggered()), this, SLOT(drawPoint()));
connect(ui->actionLine, SIGNAL(triggered()), this, SLOT(drawLine()));
connect(ui->actionCircle, SIGNAL(triggered()), this, SLOT(drawCircle()));
connect(ui->actionEllipse, SIGNAL(triggered()), this, SLOT(drawEllipse()));
connect(ui->actionArc, SIGNAL(triggered()), this, SLOT(drawArc()));
connect(ui->actionPolyline, SIGNAL(triggered()), this, SLOT(drawPolyline()));
void
pamd_circle(tuple ** const tuples,
unsigned int const cols,
unsigned int const rows,
unsigned int const depth,
sample const maxval,
pamd_point const center,
unsigned int const radius,
pamd_drawproc drawProc,
const void * const clientData) {
/*----------------------------------------------------------------------------
If lineclip mode is on, draw only points within the image.
If lineclip is off, "draw" all points (by designated drawproc). Note
that the drawproc can't actually draw a point outside the image, but
it might maintain state that is affected by imaginary points outside
the image.
Initial point is 3 o'clock.
-----------------------------------------------------------------------------*/
if (radius >= DDA_SCALE)
pm_error("Error drawing circle. Radius %d is too large.", radius);
pamd_validateCoord(center.x + radius);
pamd_validateCoord(center.y + radius);
pamd_validateCoord(center.x - radius);
pamd_validateCoord(center.y - radius);
if (radius > 0) {
long const e = DDA_SCALE / radius;
pamd_point const p0 = makePoint(radius, 0); /* 3 o'clock */
/* The starting point around the circle, assuming (0, 0) center */
pamd_point p;
/* Current drawing position in the circle, assuming (0,0) center */
bool onFirstPoint;
bool prevPointExists;
pamd_point prevPoint;
/* Previous drawing position, assuming (0, 0) center*/
long sx, sy; /* 'p', scaled by DDA_SCALE */
p = p0;
sx = p.x * DDA_SCALE + DDA_SCALE / 2;
sy = p.y * DDA_SCALE + DDA_SCALE / 2;
onFirstPoint = TRUE;
prevPointExists = FALSE;
while (onFirstPoint || !pointsEqual(p, p0)) {
if (prevPointExists && pointsEqual(p, prevPoint)) {
/* We're on the same point we were on last time (we moved less
than a point's worth). Just keep moving.
*/
} else {
pamd_point const imagePoint = vectorSum(center,p);
if (!lineclip || pointIsWithinBounds(imagePoint, cols, rows))
drawPoint(drawProc, clientData,
tuples, cols, rows, depth, maxval, imagePoint);
prevPoint = p;
prevPointExists = TRUE;
}
if (!pointsEqual(p, p0))
onFirstPoint = FALSE;
sx += e * sy / DDA_SCALE;
sy -= e * sx / DDA_SCALE;
p = makePoint(sx / DDA_SCALE, sy / DDA_SCALE);
}
}
}
