IOReturn
SATSMARTUserClient::ReadLogAtAddress ( ATASMARTReadLogStruct * structIn,
void * structOut,
IOByteCount inStructSize,
IOByteCount *outStructSize)
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command = NULL;
IOMemoryDescriptor * buffer = NULL;
DEBUG_LOG("%s[%p]::%s %p(%ld) %p(%ld)\n", getClassName(), this, __FUNCTION__, structIn, (long)inStructSize, structOut, (long)(outStructSize));
if ( inStructSize != sizeof ( ATASMARTReadLogStruct ) || !outStructSize || *outStructSize < 1) {
return kIOReturnBadArgument;
}
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
buffer = IOMemoryDescriptor::withAddress (structOut, *outStructSize, kIODirectionIn);
if ( buffer == NULL )
{
status = kIOReturnNoResources;
goto ReleaseCommand;
}
status = buffer->prepare ( );
DEBUG_LOG("%s[%p]::%s status %x\n", getClassName(), this, __FUNCTION__, status);
if ( status != kIOReturnSuccess )
{
goto ReleaseBuffer;
}
command->setBuffer ( buffer );
command->setByteCount ( buffer->getLength());
command->setFeatures ( kFeaturesRegisterReadLogAtAddress );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setSectorCount ( structIn->numSectors );
command->setSectorNumber ( structIn->logAddress );
command->setCylLo ( kSMARTMagicCylinderLoValue );
command->setCylHi ( kSMARTMagicCylinderHiValue );
command->setCommand ( kATAcmdSMART );
command->setFlags ( mATAFlagIORead );
status = SendSMARTCommand ( command );
if ( status == kIOReturnIOError )
{
if ( command->getEndErrorReg ( ) & 0x04 )
{
ERROR_LOG ( "ReadLogAtAddress %d unsupported\n", structIn->logAddress );
status = kIOReturnUnsupported;
}
if ( command->getEndErrorReg ( ) & 0x10 )
{
ERROR_LOG ( "ReadLogAtAddress %d unreadable\n", structIn->logAddress );
status = kIOReturnNotReadable;
}
}
*outStructSize = buffer->getLength();
buffer->complete ( );
ReleaseBuffer:
buffer->release ( );
buffer = NULL;
ReleaseCommand:
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %d\n", getClassName(), this, __FUNCTION__, status);
return status;
}
Array FrameInjection::getStackFrame(bool withSelf, bool withThis) {
Array frame = Array::Create();
if (m_prev) {
String file = m_prev->getFileName();
if (!file.empty() && m_prev->m_line) {
frame.set(s_file, file, true);
frame.set(s_line, m_prev->m_line, true);
}
} else if (m_flags & PseudoMain) {
// Stop at top, don't include top file
return Array();
}
if (m_flags & PseudoMain) {
frame.set(s_function, "include", true);
frame.set(s_args, Array::Create(getFileName()), true);
} else {
const char *c = strstr(m_name, "::");
const char *f = m_name;
if (c) {
f = c + 2;
frame.set(s_class, getClassName()->copy(), true);
if (ObjectData *obj = getObjectV()) {
if (withThis) {
frame.set(s_object, Object(obj), true);
}
frame.set(s_type, "->", true);
} else {
frame.set(s_type, "::", true);
}
}
ASSERT(f);
switch (f[0]) {
case ParserBase::CharClosure:
frame.set(s_function, s_closureBrackets, true);
break;
case ParserBase::CharContinuationFromClosure:
frame.set(s_function, s_closureGenBrackets, true);
break;
default:
if (const char *c = strstr(f, "$$")) {
frame.set(s_function, String(f, c - f, CopyString), true);
} else {
if (isEvalFrame()) {
frame.set(s_function, String(f, CopyString), true);
} else {
frame.set(s_function, f, true);
}
}
break;
}
Array args = getArgs();
if (!args.isNull()) {
frame.set(s_args, args, true);
} else {
frame.set(s_args, Array::Create(), true);
}
}
return frame;
}
QString Namer::getClassName( const Schema::Attribute &attribute )
{
return getClassName( attribute.name() );
}
/*!
Creates an implementation (cpp-file) for the form given in \a e.
\sa createFormDecl(), createObjectImpl()
*/
void Ui3Reader::createFormImpl(const QDomElement &e)
{
QDomElement n;
QDomNodeList nl;
int i;
QString objClass = getClassName(e);
if (objClass.isEmpty())
return;
QString objName = getObjectName(e);
// generate local and local includes required
QStringList globalIncludes, localIncludes;
QStringList::Iterator it;
QMap<QString, CustomInclude> customWidgetIncludes;
// find additional slots and functions
QStringList extraFuncts;
QStringList extraFunctTyp;
QStringList extraFunctSpecifier;
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("slot"));
for (i = 0; i < (int) nl.length(); i++) {
n = nl.item(i).toElement();
if (n.parentNode().toElement().tagName() != QLatin1String("slots")
&& n.parentNode().toElement().tagName() != QLatin1String("connections"))
continue;
if (n.attribute(QLatin1String("language"), QLatin1String("C++")) != QLatin1String("C++"))
continue;
QString functionName = n.firstChild().toText().data().trimmed();
if (functionName.endsWith(QLatin1Char(';')))
functionName.chop(1);
extraFuncts += functionName;
extraFunctTyp += n.attribute(QLatin1String("returnType"), QLatin1String("void"));
extraFunctSpecifier += n.attribute(QLatin1String("specifier"), QLatin1String("virtual"));
}
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("function"));
for (i = 0; i < (int) nl.length(); i++) {
n = nl.item(i).toElement();
if (n.parentNode().toElement().tagName() != QLatin1String("functions"))
continue;
if (n.attribute(QLatin1String("language"), QLatin1String("C++")) != QLatin1String("C++"))
continue;
QString functionName = n.firstChild().toText().data().trimmed();
if (functionName.endsWith(QLatin1Char(';')))
functionName.chop(1);
extraFuncts += functionName;
extraFunctTyp += n.attribute(QLatin1String("returnType"), QLatin1String("void"));
extraFunctSpecifier += n.attribute(QLatin1String("specifier"), QLatin1String("virtual"));
}
// additional includes (local or global) and forward declaractions
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("include"));
for (i = 0; i < (int) nl.length(); i++) {
QDomElement n2 = nl.item(i).toElement();
QString s = n2.firstChild().toText().data();
if (n2.attribute(QLatin1String("location")) != QLatin1String("local")) {
if (s.right(5) == QLatin1String(".ui.h") && !QFile::exists(s))
continue;
if (n2.attribute(QLatin1String("impldecl"), QLatin1String("in implementation")) != QLatin1String("in implementation"))
continue;
globalIncludes += s;
}
}
registerDatabases(e);
dbConnections = unique(dbConnections);
bool dbForm = false;
if (dbForms[QLatin1String("(default)")].count())
dbForm = true;
bool subDbForms = false;
for (it = dbConnections.begin(); it != dbConnections.end(); ++it) {
if (!(*it).isEmpty() && (*it) != QLatin1String("(default)")) {
if (dbForms[(*it)].count()) {
subDbForms = true;
break;
}
}
}
// do the local includes afterwards, since global includes have priority on clashes
for (i = 0; i < (int) nl.length(); i++) {
QDomElement n2 = nl.item(i).toElement();
QString s = n2.firstChild().toText().data();
if (n2.attribute(QLatin1String("location")) == QLatin1String("local") && !globalIncludes.contains(s)) {
if (s.right(5) == QLatin1String(".ui.h") && !QFile::exists(s))
continue;
if (n2.attribute(QLatin1String("impldecl"), QLatin1String("in implementation")) != QLatin1String("in implementation"))
continue;
localIncludes += s;
}
}
// additional custom widget headers
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("header"));
for (i = 0; i < (int) nl.length(); i++) {
QDomElement n2 = nl.item(i).toElement();
QString s = n2.firstChild().toText().data();
if (n2.attribute(QLatin1String("location")) != QLatin1String("local"))
globalIncludes += s;
else
localIncludes += s;
}
out << "#include <qvariant.h>" << endl; // first for gcc 2.7.2
globalIncludes = unique(globalIncludes);
for (it = globalIncludes.begin(); it != globalIncludes.end(); ++it) {
if (!(*it).isEmpty())
out << "#include <" << fixHeaderName(*it) << '>' << endl;
}
if (externPixmaps) {
out << "#include <qimage.h>" << endl;
out << "#include <qpixmap.h>" << endl << endl;
}
/*
Put local includes after all global includes
*/
localIncludes = unique(localIncludes);
for (it = localIncludes.begin(); it != localIncludes.end(); ++it) {
if (!(*it).isEmpty() && *it != QFileInfo(fileName + QLatin1String(".h")).fileName())
out << "#include \"" << fixHeaderName(*it) << '\"' << endl;
}
QString uiDotH = fileName + QLatin1String(".h");
if (QFile::exists(uiDotH)) {
if (!outputFileName.isEmpty())
uiDotH = QString::fromUtf8(combinePath(uiDotH.ascii(), outputFileName.ascii()));
out << "#include \"" << uiDotH << '\"' << endl;
writeFunctImpl = false;
}
// register the object and unify its name
objName = registerObject(objName);
if (externPixmaps) {
pixmapLoaderFunction = QLatin1String("QPixmap::fromMimeSource");
}
// constructor
if (objClass == QLatin1String("QDialog") || objClass == QLatin1String("QWizard")) {
out << "/*" << endl;
out << " * Constructs a " << nameOfClass << " as a child of 'parent', with the" << endl;
out << " * name 'name' and widget flags set to 'f'." << endl;
out << " *" << endl;
out << " * The " << objClass.mid(1).toLower() << " will by default be modeless, unless you set 'modal' to" << endl;
out << " * true to construct a modal " << objClass.mid(1).toLower() << '.' << endl;
out << " */" << endl;
out << nameOfClass << "::" << bareNameOfClass << "(QWidget* parent, const char* name, bool modal, Qt::WindowFlags fl)" << endl;
out << " : " << objClass << "(parent, name, modal, fl)";
} else if (objClass == QLatin1String("QWidget")) {
out << "/*" << endl;
out << " * Constructs a " << nameOfClass << " as a child of 'parent', with the" << endl;
out << " * name 'name' and widget flags set to 'f'." << endl;
out << " */" << endl;
out << nameOfClass << "::" << bareNameOfClass << "(QWidget* parent, const char* name, Qt::WindowFlags fl)" << endl;
out << " : " << objClass << "(parent, name, fl)";
} else if (objClass == QLatin1String("QMainWindow") || objClass == QLatin1String("Q3MainWindow")) {
out << "/*" << endl;
out << " * Constructs a " << nameOfClass << " as a child of 'parent', with the" << endl;
out << " * name 'name' and widget flags set to 'f'." << endl;
out << " *" << endl;
out << " */" << endl;
out << nameOfClass << "::" << bareNameOfClass << "(QWidget* parent, const char* name, Qt::WindowFlags fl)" << endl;
out << " : " << objClass << "(parent, name, fl)";
isMainWindow = true;
} else {
out << "/*" << endl;
out << " * Constructs a " << nameOfClass << " which is a child of 'parent', with the" << endl;
out << " * name 'name'.' " << endl;
out << " */" << endl;
out << nameOfClass << "::" << bareNameOfClass << "(QWidget* parent, const char* name)" << endl;
out << " : " << objClass << "(parent, name)";
}
out << endl;
out << '{' << endl;
//
// setup the gui
//
out << indent << "setupUi(this);" << endl << endl;
if (isMainWindow)
out << indent << "(void)statusBar();" << endl;
// database support
dbConnections = unique(dbConnections);
if (dbConnections.count())
out << endl;
for (it = dbConnections.begin(); it != dbConnections.end(); ++it) {
if (!(*it).isEmpty() && (*it) != QLatin1String("(default)")) {
out << indent << (*it) << "Connection = QSqlDatabase::database(\"" <<(*it) << "\");" << endl;
}
}
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("widget"));
for (i = 1; i < (int) nl.length(); i++) { // start at 1, 0 is the toplevel widget
n = nl.item(i).toElement();
QString s = getClassName(n);
if ((dbForm || subDbForms) && (s == QLatin1String("QDataBrowser") || s == QLatin1String("QDataView"))) {
QString objName = getObjectName(n);
QString tab = getDatabaseInfo(n, QLatin1String("table"));
QString con = getDatabaseInfo(n, QLatin1String("connection"));
out << indent << "QSqlForm* " << objName << "Form = new QSqlForm(this);" << endl;
out << indent << objName << "Form->setObjectName(\"" << objName << "Form\");" << endl;
QDomElement n2;
for (n2 = n.firstChild().toElement(); !n2.isNull(); n2 = n2.nextSibling().toElement())
createFormImpl(n2, objName, con, tab);
out << indent << objName << "->setForm(" << objName << "Form);" << endl;
}
}
if (extraFuncts.contains(QLatin1String("init()")))
out << indent << "init();" << endl;
// end of constructor
out << '}' << endl;
out << endl;
// destructor
out << "/*" << endl;
out << " * Destroys the object and frees any allocated resources" << endl;
out << " */" << endl;
out << nameOfClass << "::~" << bareNameOfClass << "()" << endl;
out << '{' << endl;
if (extraFuncts.contains(QLatin1String("destroy()")))
out << indent << "destroy();" << endl;
out << indent << "// no need to delete child widgets, Qt does it all for us" << endl;
out << '}' << endl;
out << endl;
// handle application events if required
bool needFontEventHandler = false;
bool needSqlTableEventHandler = false;
bool needSqlDataBrowserEventHandler = false;
nl = e.elementsByTagName(QLatin1String("widget"));
for (i = 0; i < (int) nl.length(); i++) {
if (!DomTool::propertiesOfType(nl.item(i).toElement() , QLatin1String("font")).isEmpty())
needFontEventHandler = true;
QString s = getClassName(nl.item(i).toElement());
if (s == QLatin1String("QDataTable") || s == QLatin1String("QDataBrowser")) {
if (!isFrameworkCodeGenerated(nl.item(i).toElement()))
continue;
if (s == QLatin1String("QDataTable"))
needSqlTableEventHandler = true;
if (s == QLatin1String("QDataBrowser"))
needSqlDataBrowserEventHandler = true;
}
if (needFontEventHandler && needSqlTableEventHandler && needSqlDataBrowserEventHandler)
break;
}
out << "/*" << endl;
out << " * Sets the strings of the subwidgets using the current" << endl;
out << " * language." << endl;
out << " */" << endl;
out << "void " << nameOfClass << "::languageChange()" << endl;
out << '{' << endl;
out << " retranslateUi(this);" << endl;
out << '}' << endl;
out << endl;
// create stubs for additional slots if necessary
if (!extraFuncts.isEmpty() && writeFunctImpl) {
it = extraFuncts.begin();
QStringList::Iterator it2 = extraFunctTyp.begin();
QStringList::Iterator it3 = extraFunctSpecifier.begin();
while (it != extraFuncts.end()) {
QString type = fixDeclaration(*it2);
if (type.isEmpty())
type = QLatin1String("void");
type = type.simplified();
QString fname = fixDeclaration(Parser::cleanArgs(*it));
if (!(*it3).startsWith(QLatin1String("pure"))) { // "pure virtual" or "pureVirtual"
out << type << ' ' << nameOfClass << "::" << fname << endl;
out << '{' << endl;
if (*it != QLatin1String("init()") && *it != QLatin1String("destroy()")) {
QRegExp numeric(QLatin1String("^(?:signed|unsigned|u?char|u?short|u?int"
"|u?long|Q_U?INT(?:8|16|32)|Q_U?LONG|float"
"|double)$"));
QString retVal;
/*
We return some kind of dummy value to shut the
compiler up.
1. If the type is 'void', we return nothing.
2. If the type is 'bool', we return 'false'.
3. If the type is 'unsigned long' or
'quint16' or 'double' or similar, we
return '0'.
4. If the type is 'Foo *', we return '0'.
5. If the type is 'Foo &', we create a static
variable of type 'Foo' and return it.
6. If the type is 'Foo', we assume there's a
default constructor and use it.
*/
if (type != QLatin1String("void")) {
QStringList toks = type.split(QLatin1String(" "));
bool isBasicNumericType =
(toks.filter(numeric).count() == toks.count());
if (type == QLatin1String("bool")) {
retVal = QLatin1String("false");
} else if (isBasicNumericType || type.endsWith(QLatin1Char('*'))) {
retVal = QLatin1String("0");
} else if (type.endsWith(QLatin1Char('&'))) {
do {
type.chop(1);
} while (type.endsWith(QLatin1Char(' ')));
retVal = QLatin1String("uic_temp_var");
out << indent << "static " << type << ' ' << retVal << ';' << endl;
} else {
retVal = type + QLatin1String("()");
}
}
out << indent << "qWarning(\"" << nameOfClass << "::" << fname << ": Not implemented yet\");" << endl;
if (!retVal.isEmpty())
out << indent << "return " << retVal << ';' << endl;
}
out << '}' << endl;
out << endl;
}
++it;
++it2;
++it3;
}
}
}
template <typename PointInT, typename PointOutT> void
pcl::MovingLeastSquares<PointInT, PointOutT>::process (PointCloudOut &output)
{
// Check if normals have to be computed/saved
if (compute_normals_)
{
normals_.reset (new NormalCloud);
// Copy the header
normals_->header = input_->header;
// Clear the fields in case the method exits before computation
normals_->width = normals_->height = 0;
normals_->points.clear ();
}
// Copy the header
output.header = input_->header;
output.width = output.height = 0;
output.points.clear ();
if (search_radius_ <= 0 || sqr_gauss_param_ <= 0)
{
PCL_ERROR ("[pcl::%s::process] Invalid search radius (%f) or Gaussian parameter (%f)!\n", getClassName ().c_str (), search_radius_, sqr_gauss_param_);
return;
}
// Check if distinct_cloud_ was set
if (upsample_method_ == DISTINCT_CLOUD && !distinct_cloud_)
{
PCL_ERROR ("[pcl::%s::process] Upsample method was set to DISTINCT_CLOUD, but no distinct cloud was specified.\n", getClassName ().c_str ());
return;
}
if (!initCompute ())
return;
// Initialize the spatial locator
if (!tree_)
{
KdTreePtr tree;
if (input_->isOrganized ())
tree.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
else
tree.reset (new pcl::search::KdTree<PointInT> (false));
setSearchMethod (tree);
}
// Send the surface dataset to the spatial locator
tree_->setInputCloud (input_, indices_);
switch (upsample_method_)
{
// Initialize random number generator if necessary
case (RANDOM_UNIFORM_DENSITY):
{
boost::mt19937 *rng = new boost::mt19937 (static_cast<unsigned int>(std::time(0)));
float tmp = static_cast<float> (search_radius_ / 2.0f);
boost::uniform_real<float> *uniform_distrib = new boost::uniform_real<float> (-tmp, tmp);
rng_uniform_distribution_ = new boost::variate_generator<boost::mt19937, boost::uniform_real<float> > (*rng, *uniform_distrib);
break;
}
case (VOXEL_GRID_DILATION):
case (DISTINCT_CLOUD):
{
mls_results_.resize (input_->size ());
break;
}
default:
break;
}
// Perform the actual surface reconstruction
performProcessing (output);
if (compute_normals_)
{
normals_->height = 1;
normals_->width = static_cast<uint32_t> (normals_->size ());
// TODO!!! MODIFY TO PER-CLOUD COPYING - much faster than per-point
for (unsigned int i = 0; i < output.size (); ++i)
{
typedef typename pcl::traits::fieldList<PointOutT>::type FieldList;
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_x", normals_->points[i].normal_x));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_y", normals_->points[i].normal_y));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_z", normals_->points[i].normal_z));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "curvature", normals_->points[i].curvature));
}
}
// Set proper widths and heights for the clouds
output.height = 1;
output.width = static_cast<uint32_t> (output.size ());
deinitCompute ();
}
void VisletFactory::destroyVislet(Vislet*) const
{
Misc::throwStdErr("Cannot destroy vislet of abstract class %s",getClassName());
}
/*!
Creates a declaration (header file) for the form given in \a e
\sa createFormImpl()
*/
void Ui3Reader::createFormDecl(const QDomElement &e)
{
QDomElement body = e;
QDomElement n;
QDomNodeList nl;
int i;
QString objClass = getClassName(e);
if (objClass.isEmpty())
return;
QString objName = getObjectName(e);
QStringList typeDefs;
QMap<QString, CustomInclude> customWidgetIncludes;
/*
We are generating a few QImage members that are not strictly
necessary in some cases. Ideally, we would use requiredImage,
which is computed elsewhere, to keep the generated .h and .cpp
files synchronized.
*/
// at first the images
QMap<QString, int> customWidgets;
QStringList forwardDecl;
QStringList forwardDecl2;
for (n = e; !n.isNull(); n = n.nextSibling().toElement()) {
if (n.tagName().toLower() == QLatin1String("customwidgets")) {
QDomElement n2 = n.firstChild().toElement();
while (!n2.isNull()) {
if (n2.tagName().toLower() == QLatin1String("customwidget")) {
QDomElement n3 = n2.firstChild().toElement();
QString cl;
while (!n3.isNull()) {
QString tagName = n3.tagName().toLower();
if (tagName == QLatin1String("class")) {
cl = n3.firstChild().toText().data();
if (m_options & CustomWidgetForwardDeclarations)
forwardDecl << cl;
customWidgets.insert(cl, 0);
} else if (tagName == QLatin1String("header")) {
CustomInclude ci;
ci.header = n3.firstChild().toText().data();
ci.location = n3.attribute(QLatin1String("location"), QLatin1String("global"));
if (!ci.header.isEmpty())
forwardDecl.removeAll(cl);
customWidgetIncludes.insert(cl, ci);
}
n3 = n3.nextSibling().toElement();
}
}
n2 = n2.nextSibling().toElement();
}
}
}
// register the object and unify its name
objName = registerObject(objName);
QString protector = objName.toUpper() + QLatin1String("_H");
protector.replace(QLatin1String("::"), QLatin1String("_"));
out << "#ifndef " << protector << endl;
out << "#define " << protector << endl;
out << endl;
out << "#include <qvariant.h>" << endl; // for broken HP-UX compilers
QStringList globalIncludes, localIncludes;
{
QMap<QString, CustomInclude>::Iterator it = customWidgetIncludes.find(objClass);
if (it != customWidgetIncludes.end()) {
if ((*it).location == QLatin1String("global"))
globalIncludes += (*it).header;
else
localIncludes += (*it).header;
}
}
QStringList::ConstIterator it;
globalIncludes = unique(globalIncludes);
for (it = globalIncludes.constBegin(); it != globalIncludes.constEnd(); ++it) {
if (!(*it).isEmpty()) {
QString header = fixHeaderName(*it);
out << "#include <" << header << '>' << endl;
}
}
localIncludes = unique(localIncludes);
for (it = localIncludes.constBegin(); it != localIncludes.constEnd(); ++it) {
if (!(*it).isEmpty()) {
QString header = fixHeaderName(*it);
out << "#include \"" << header << '\"' << endl;
}
}
out << endl;
bool dbForm = false;
registerDatabases(e);
dbConnections = unique(dbConnections);
if (dbForms[QLatin1String("(default)")].count())
dbForm = true;
bool subDbForms = false;
for (it = dbConnections.constBegin(); it != dbConnections.constEnd(); ++it) {
if (!(*it).isEmpty() && (*it) != QLatin1String("(default)")) {
if (dbForms[(*it)].count()) {
subDbForms = true;
break;
}
}
}
// some typedefs, maybe
typeDefs = unique(typeDefs);
for (it = typeDefs.constBegin(); it != typeDefs.constEnd(); ++it) {
if (!(*it).isEmpty())
out << "typedef " << *it << ';' << endl;
}
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("forward"));
for (i = 0; i < (int) nl.length(); i++)
forwardDecl2 << fixDeclaration(nl.item(i).toElement().firstChild().toText().data());
forwardDecl = unique(forwardDecl);
for (it = forwardDecl.constBegin(); it != forwardDecl.constEnd(); ++it) {
if (!(*it).isEmpty() && (*it) != objClass) {
QString forwardName = *it;
QStringList forwardNamespaces = forwardName.split(QLatin1String("::"));
forwardName = forwardNamespaces.last();
forwardNamespaces.removeAt(forwardNamespaces.size()-1);
QStringList::ConstIterator ns = forwardNamespaces.constBegin();
while (ns != forwardNamespaces.constEnd()) {
out << "namespace " << *ns << " {" << endl;
++ns;
}
out << "class " << forwardName << ';' << endl;
for (int i = 0; i < (int) forwardNamespaces.count(); i++)
out << '}' << endl;
}
}
for (it = forwardDecl2.constBegin(); it != forwardDecl2.constEnd(); ++it) {
QString fd = *it;
fd = fd.trimmed();
if (!fd.endsWith(QLatin1Char(';')))
fd += QLatin1Char(';');
out << fd << endl;
}
out << endl;
Driver d;
d.option().headerProtection = false;
d.option().copyrightHeader = false;
d.option().extractImages = m_extractImages;
d.option().limitXPM_LineLength = (m_options & LimitXPM_LineLength) ? 1 : 0;
d.option().qrcOutputFile = m_qrcOutputFile;
d.option().implicitIncludes = (m_options & ImplicitIncludes) ? 1 : 0;
if (trmacro.size())
d.option().translateFunction = trmacro;
DomUI *ui = generateUi4(e);
d.uic(fileName, ui, &out);
delete ui;
createWrapperDeclContents(e);
out << "#endif // " << protector << endl;
}
IOReturn
SATSMARTUserClient::ExecuteOfflineImmediate ( UInt32 extendedTest )
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command = NULL;
DEBUG_LOG("%s[%p]::%s\n", getClassName(), this, __FUNCTION__);
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
command->setFeatures ( kFeaturesRegisterExecuteOfflineImmed );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setSectorNumber ( ( extendedTest == 0 ) ? 0x01 : 0x02 );
command->setCylLo ( kSMARTMagicCylinderLoValue );
command->setCylHi ( kSMARTMagicCylinderHiValue );
command->setCommand ( kATAcmdSMART );
status = SendSMARTCommand ( command );
if ( status == kIOReturnIOError )
{
if ( command->getEndErrorReg ( ) & 0x04 )
{
ERROR_LOG ( "Execute Offline Immediate unsupported\n" );
status = kIOReturnUnsupported;
}
}
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %d\n", getClassName(), this, __FUNCTION__, status);
return status;
}
IOReturn
SATSMARTUserClient::ReadDataThresholds (UInt32 * dataOut,
IOByteCount * outputSize)
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command = NULL;
IOMemoryDescriptor * buffer = NULL;
DEBUG_LOG("%s[%p]::%s\n", getClassName(), this, __FUNCTION__);
if (!dataOut || !outputSize || *outputSize != sizeof ( ATASMARTDataThresholds ) ) {
return kIOReturnBadArgument;
}
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
buffer = IOMemoryDescriptor::withAddress(dataOut, sizeof ( ATASMARTDataThresholds ), kIODirectionIn);
if ( buffer == NULL )
{
status = kIOReturnNoResources;
goto ReleaseCommand;
}
status = buffer->prepare ( );
if ( status != kIOReturnSuccess )
{
goto ReleaseBuffer;
}
command->setBuffer ( buffer );
command->setByteCount ( sizeof ( ATASMARTDataThresholds ) );
command->setFeatures ( kFeaturesRegisterReadDataThresholds );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setCylLo ( kSMARTMagicCylinderLoValue );
command->setCylHi ( kSMARTMagicCylinderHiValue );
command->setCommand ( kATAcmdSMART );
command->setFlags ( mATAFlagIORead );
status = SendSMARTCommand ( command );
if ( status == kIOReturnIOError )
{
if ( command->getEndErrorReg ( ) & 0x04 )
{
ERROR_LOG ( "ReadDataThresholds unsupported\n" );
status = kIOReturnUnsupported;
}
if ( command->getEndErrorReg ( ) & 0x10 )
{
ERROR_LOG ( "ReadDataThresholds Not readable\n" );
status = kIOReturnNotReadable;
}
}
*outputSize = buffer->getLength();
buffer->complete ( );
ReleaseBuffer:
buffer->release ( );
buffer = NULL;
ReleaseCommand:
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %d\n", getClassName(), this, __FUNCTION__, status);
return status;
}
IOReturn
SATSMARTUserClient::EnableDisableAutoSave ( UInt32 enable )
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command;
DEBUG_LOG("%s[%p]::%s\n", getClassName(), this, __FUNCTION__);
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
if ( enable == 0 )
{
// They want to disable SMART autosave operations.
command->setSectorCount ( kSMARTAutoSaveDisable );
}
else
{
// They want to enable SMART autosave operations.
command->setSectorCount ( kSMARTAutoSaveEnable );
}
command->setFeatures ( kFeaturesRegisterEnableDisableAutoSave );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setCylLo ( kSMARTMagicCylinderLoValue );
command->setCylHi ( kSMARTMagicCylinderHiValue );
command->setCommand ( kATAcmdSMART );
status = SendSMARTCommand ( command );
if ( status == kIOReturnIOError )
{
if ( command->getEndErrorReg ( ) & 0x04 )
{
ERROR_LOG ( "Enable/Disable autosave unsupported\n" );
status = kIOReturnUnsupported;
}
}
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %d\n", getClassName(), this, __FUNCTION__, status);
return status;
}
IOReturn
SATSMARTUserClient::ReturnStatus ( UInt32 * exceededCondition )
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command = NULL;
UInt8 lbaMid = kSMARTMagicCylinderLoValue;
UInt8 lbaHigh = kSMARTMagicCylinderHiValue;
DEBUG_LOG("%s[%p]::%s\n", getClassName(), this, __FUNCTION__);
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
command->setFeatures ( kFeaturesRegisterReturnStatus );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setCylLo ( lbaMid );
command->setCylHi ( lbaHigh );
command->setCommand ( kATAcmdSMART );
command->setRegMask ( ( ataRegMask ) ( mATACylinderHiValid | mATACylinderLoValid ) );
command->setFlags ( mATAFlagTFAccessResult );
status = SendSMARTCommand ( command );
lbaMid = command->getCylLo ( );
lbaHigh = command->getCylHi ( );
if ( status == kIOReturnSuccess )
{
// Check if threshold exceeded
if ( ( lbaMid == kSMARTReturnStatusValidLoValue ) &&
( lbaHigh == kSMARTReturnStatusValidHiValue ) )
{
*exceededCondition = 1;
}
else
{
*exceededCondition = 0;
}
}
if ( status == kIOReturnIOError )
{
if ( command->getEndErrorReg ( ) & 0x04 )
{
ERROR_LOG ( "Return Status unsupported\n" );
status = kIOReturnUnsupported;
}
}
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %d\n", getClassName(), this, __FUNCTION__, status);
return status;
}
bool
SATSMARTUserClient::start ( IOService * provider )
{
IOWorkLoop * workLoop = NULL;
DEBUG_LOG("%s[%p]::%s\n", getClassName(), this, __FUNCTION__);
if ( fProvider != NULL )
{
ERROR_LOG ( "fProvider != NULL, returning false\n" );
return false;
}
fProvider = OSDynamicCast ( IOSATServices, provider );
if ( fProvider == NULL )
{
ERROR_LOG ( "Provider not IOSATServices\n" );
return false;
}
if ( !super::start ( provider ) )
{
ERROR_LOG ( "super rejected provider in start\n" );
return false;
}
fCommandGate = IOCommandGate::commandGate ( this );
if ( fCommandGate == NULL )
{
ERROR_LOG ( "Command gate creation failed\n" );
return false;
}
workLoop = getWorkLoop ( );
if ( workLoop == NULL )
{
ERROR_LOG ( "workLoop == NULL\n" );
fCommandGate->release ( );
fCommandGate = NULL;
return false;
}
workLoop->addEventSource ( fCommandGate );
if ( !fProvider->open ( this, kIOATASMARTUserClientAccessMask, 0 ) )
{
ERROR_LOG ( "Open failed\n" );
fCommandGate->release ( );
fCommandGate = NULL;
return false;
}
fWorkLoop = workLoop;
// Yes, we found an object to use as our interface
return true;
}
IOReturn
SATSMARTUserClient::GetIdentifyData (UInt32 * dataOut,
IOByteCount * outputSize)
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command = NULL;
IOMemoryDescriptor * buffer = NULL;
DEBUG_LOG("%s[%p]::%s %p(%ld)\n", getClassName(), this, __FUNCTION__, dataOut, (long)(outputSize));
if (!dataOut || !outputSize || *outputSize < kATADefaultSectorSize ) {
return kIOReturnBadArgument;
}
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
buffer = IOMemoryDescriptor::withAddress(dataOut, kATADefaultSectorSize, kIODirectionIn);
if ( buffer == NULL )
{
status = kIOReturnNoResources;
goto ReleaseCommand;
}
status = buffer->prepare ( );
if ( status != kIOReturnSuccess )
{
goto ReleaseBuffer;
}
command->setBuffer ( buffer );
command->setByteCount ( kATADefaultSectorSize );
command->setTransferChunkSize ( kATADefaultSectorSize );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setCommand ( kATAcmdDriveIdentify );
command->setFlags ( mATAFlagIORead );
command->setRegMask ( ( ataRegMask ) ( mATAErrFeaturesValid | mATAStatusCmdValid ) );
status = SendSMARTCommand ( command );
if ( status == kIOReturnSuccess )
{
#if defined(__BIG_ENDIAN__)
UInt8 * bufferToCopy = identifyDataPtr;
// The identify device info needs to be byte-swapped on big-endian (ppc)
// systems becuase it is data that is produced by the drive, read across a
// 16-bit little-endian PCI interface, directly into a big-endian system.
// Regular data doesn't need to be byte-swapped because it is written and
// read from the host and is intrinsically byte-order correct.
IOByteCount index;
UInt8 temp;
UInt8 * firstBytePtr;
UInt8 * identifyDataPtr = ( UInt8 * )dataOut;
for ( index = 0; index < buffer->getLength ( ); index += 2 )
{
firstBytePtr = identifyDataPtr; // save pointer
temp = *identifyDataPtr++; // Save Byte0, point to Byte1
*firstBytePtr = *identifyDataPtr; // Byte0 = Byte1
*identifyDataPtr++ = temp; // Byte1 = Byte0
}
#endif
*outputSize = buffer->getLength ( );
DEBUG_LOG("%s[%p]::%s cpy %p %p\n", getClassName(), this, __FUNCTION__, (void*)*outputSize, (void*)buffer->getLength());
}
ReleaseBufferPrepared:
buffer->complete ( );
ReleaseBuffer:
buffer->release ( );
buffer = NULL;
ReleaseCommand:
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %x\n", getClassName(), this, __FUNCTION__, status);
return status;
}
IOReturn
SATSMARTUserClient::WriteLogAtAddress ( ATASMARTWriteLogStruct * writeLogData,
UInt32 inStructSize )
{
IOReturn status = kIOReturnSuccess;
IOSATCommand * command = NULL;
IOMemoryDescriptor * buffer = NULL;
DEBUG_LOG("%s[%p]::%s\n", getClassName(), this, __FUNCTION__);
if ( inStructSize != sizeof ( ATASMARTWriteLogStruct ) || writeLogData->numSectors > 16 || writeLogData->data_length > kSATMaxDataSize) {
return kIOReturnBadArgument;
}
fOutstandingCommands++;
if ( isInactive ( ) )
{
status = kIOReturnNoDevice;
goto ErrorExit;
}
fProvider->retain ( );
command = AllocateCommand ( );
if ( command == NULL )
{
status = kIOReturnNoResources;
goto ReleaseProvider;
}
//buffer = IOMemoryDescriptor::withAddress(writeLogData->buffer, writeLogData->bufferSize, kIODirectionOut);
buffer = IOMemoryDescriptor::withAddressRange(writeLogData->data_pointer, writeLogData->data_length, kIODirectionOut, fTask);
if ( buffer == NULL )
{
status = kIOReturnVMError;
goto ReleaseCommand;
}
status = buffer->prepare ( );
if ( status != kIOReturnSuccess )
{
goto ReleaseBuffer;
}
command->setBuffer ( buffer );
command->setByteCount ( writeLogData->data_length );
command->setFeatures ( kFeaturesRegisterWriteLogAtAddress );
command->setOpcode ( kATAFnExecIO );
command->setTimeoutMS ( kATAThirtySecondTimeoutInMS );
command->setSectorCount ( writeLogData->numSectors );
command->setSectorNumber ( writeLogData->logAddress );
command->setCylLo ( kSMARTMagicCylinderLoValue );
command->setCylHi ( kSMARTMagicCylinderHiValue );
command->setCommand ( kATAcmdSMART );
command->setFlags ( mATAFlagIOWrite );
status = SendSMARTCommand ( command );
if ( status == kIOReturnIOError )
{
if ( command->getEndErrorReg ( ) & 0x04 )
{
ERROR_LOG ( "WriteLogAtAddress %d unsupported\n", writeLogData->logAddress );
status = kIOReturnUnsupported;
}
if ( command->getEndErrorReg ( ) & 0x10 )
{
ERROR_LOG ( "WriteLogAtAddress %d unwriteable\n", writeLogData->logAddress );
status = kIOReturnNotWritable;
}
}
buffer->complete ( );
ReleaseBuffer:
buffer->release ( );
buffer = NULL;
ReleaseCommand:
DeallocateCommand ( command );
command = NULL;
ReleaseProvider:
fProvider->release ( );
ErrorExit:
fOutstandingCommands--;
DEBUG_LOG("%s[%p]::%s result %d\n", getClassName(), this, __FUNCTION__, status);
return status;
}
bool isPushButton(QObject *object)
{
static const QString name("QPushButton");
return (getClassName(object) == name);
}
String CIMObjectPath::toString() const
{
String objectName;
// Get the host:
if (_rep->_host.size())
{
objectName = "//";
objectName.append(_rep->_host);
objectName.append("/");
}
// Get the namespace (if we have a host name, we must write namespace):
if (!_rep->_nameSpace.isNull() || _rep->_host.size())
{
objectName.append(_rep->_nameSpace.getString ());
objectName.append(":");
}
// Get the class name:
objectName.append(getClassName().getString ());
//
// ATTN-CAKG-P2-20020726: The following condition does not correctly
// distinguish instanceNames from classNames in every case
// The instanceName of a singleton instance of a keyless class has no
// key bindings
//
if (_rep->_keyBindings.size () != 0)
{
objectName.append('.');
// Append each key-value pair:
const Array<CIMKeyBinding>& keyBindings = getKeyBindings();
for (Uint32 i = 0, n = keyBindings.size(); i < n; i++)
{
objectName.append(keyBindings[i].getName().getString ());
objectName.append('=');
const String& value = _escapeSpecialCharacters(
keyBindings[i].getValue());
CIMKeyBinding::Type type = keyBindings[i].getType();
if (type == CIMKeyBinding::STRING || type == CIMKeyBinding::REFERENCE)
objectName.append('"');
objectName.append(value);
if (type == CIMKeyBinding::STRING || type == CIMKeyBinding::REFERENCE)
objectName.append('"');
if (i + 1 != n)
objectName.append(',');
}
}
return objectName;
}
const TCHAR* RangeQuery::getQueryName() const{
return getClassName();
}
//////////////////////////////////////////////////////////////////////////////////////////////
// Compute a local Reference Frame for a 3D feature; the output is stored in the "rf" vector
template <typename PointInT, typename PointNT, typename PointOutT> float
pcl::SHOTEstimationBase<PointInT, PointNT, PointOutT>::getSHOTLocalRF (
const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
const int index, const std::vector<int> &indices, const std::vector<float> &dists,
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf)
{
if (rf.size () != 3)
rf.resize (3);
Eigen::Vector4f central_point = cloud.points[index].getVector4fMap ();
// Allocate enough space
Eigen::Vector4d *vij = new Eigen::Vector4d[indices.size ()];
Eigen::Matrix3d cov_m = Eigen::Matrix3d::Zero ();
double distance = 0.0;
double sum = 0.0;
int valid_nn_points = 0;
for (size_t i_idx = 0; i_idx < indices.size (); ++i_idx)
{
if (indices[i_idx] == index)
continue;
Eigen::Vector4f pt = cloud.points[indices[i_idx]].getVector4fMap ();
// Difference between current point and origin
vij[valid_nn_points] = (pt - central_point).cast<double> ();
distance = search_radius_ - sqrt (dists[i_idx]);
// Multiply vij * vij'
cov_m += distance * (vij[valid_nn_points].head<3> () * vij[valid_nn_points].head<3> ().transpose ());
sum += distance;
valid_nn_points++;
}
if (valid_nn_points < 5)
{
PCL_ERROR ("[pcl::%s::getSHOTLocalRF] Warning! Neighborhood has less than 5 vertexes. Aborting Local RF computation of feature point with index %d\n", getClassName ().c_str (), index);
rf[0].setZero ();
rf[1].setZero ();
rf[2].setZero ();
rf[0][0] = 1;
rf[1][1] = 1;
rf[2][2] = 1;
delete [] vij;
return (std::numeric_limits<float>::max ());
}
cov_m /= sum;
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> solver (cov_m);
// Disambiguation
int plusNormal = 0, plusTangentDirection1=0;
Eigen::Vector3d v1c = solver.eigenvectors ().col (0);
Eigen::Vector3d v2c = solver.eigenvectors ().col (1);
Eigen::Vector3d v3c = solver.eigenvectors ().col (2);
double e1c = solver.eigenvalues ()[0];
double e2c = solver.eigenvalues ()[1];
double e3c = solver.eigenvalues ()[2];
Eigen::Vector4d v1 = Eigen::Vector4d::Zero ();
Eigen::Vector4d v3 = Eigen::Vector4d::Zero ();
if (e1c > e2c)
{
if (e1c > e3c) // v1c > max(v2c,v3c)
{
v1.head<3> () = v1c;
if (e2c > e3c) // v1c > v2c > v3c
v3.head<3> () = v3c;
else // v1c > v3c > v2c
v3.head<3> () = v2c;
}
else // v3c > v1c > v2c
{
v1.head<3> () = v3c;
v3.head<3> () = v2c;
}
}
else
{
if (e2c > e3c) // v2c > max(v1c,v3c)
{
v1.head<3> () = v2c;
if (e1c > e3c) // v2c > v1c > v3c
v3.head<3> () = v3c;
else // v2c > v3c > v1c
v3.head<3> () = v1c;
}
else // v3c > v2c > v1c
{
v1.head<3> () = v3c;
v3.head<3> () = v1c;
}
}
for (int ne = 0; ne < valid_nn_points; ne++)
{
double dp = vij[ne].dot (v1);
if (dp >= 0)
plusTangentDirection1++;
dp = vij[ne].dot (v3);
if (dp >= 0)
plusNormal++;
}
if (plusTangentDirection1 < valid_nn_points - plusTangentDirection1)
v1 *= - 1;
if (plusNormal < valid_nn_points - plusNormal)
v3 *= - 1;
rf[0] = v1.cast<float>();
rf[2] = v3.cast<float>();
rf[1] = rf[2].cross3 (rf[0]);
rf[0][3] = 0; rf[1][3] = 0; rf[2][3] = 0;
delete [] vij;
return (0.0f);
}
std::string PlanIterator::toString() const
{
std::stringstream ss;
ss << getId() << " = " << getClassName();
return ss.str();
}
/* Returns a satTypeValueMap object, adding the new data generated when
* calling this object.
*
* @param time Epoch corresponding to the data.
* @param gData Data object holding the data.
*/
satTypeValueMap& ComputeDOP::Process( const CommonTime& time,
satTypeValueMap& gData)
throw(ProcessingException)
{
try
{
bool valid1(false), valid2(false);
// First, let's define a set with XYZt unknowns
TypeIDSet tempSet1;
tempSet1.insert(TypeID::dx);
tempSet1.insert(TypeID::dy);
tempSet1.insert(TypeID::dz);
tempSet1.insert(TypeID::cdt);
// Second, let's define a set with NEUt unknowns
TypeIDSet tempSet2;
tempSet2.insert(TypeID::dLat);
tempSet2.insert(TypeID::dLon);
tempSet2.insert(TypeID::dH);
tempSet2.insert(TypeID::cdt);
// Then, generate the corresponding geometry/design matrices
Matrix<double> dMatrix1(gData.getMatrixOfTypes(tempSet1));
Matrix<double> dMatrix2(gData.getMatrixOfTypes(tempSet2));
// Afterwards, compute the appropriate extra matrices
Matrix<double> AT1(transpose(dMatrix1));
Matrix<double> covM1(AT1 * dMatrix1);
Matrix<double> AT2(transpose(dMatrix2));
Matrix<double> covM2(AT2 * dMatrix2);
// Let's try to invert AT*A matrices
try
{
covM1 = inverseChol( covM1 );
valid1 = true;
}
catch(...)
{
valid1 = false;
}
try
{
covM2 = inverseChol( covM2 );
valid2 = true;
}
catch(...)
{
valid2 = false;
}
if( valid1 )
{
gdop = std::sqrt(covM1(0,0)+covM1(1,1)+covM1(2,2)+covM1(3,3));
pdop = std::sqrt(covM1(0,0)+covM1(1,1)+covM1(2,2));
tdop = std::sqrt(covM1(3,3));
}
else
{
gdop = -1.0;
pdop = -1.0;
tdop = -1.0;
}
if( valid2 )
{
hdop = std::sqrt(covM2(0,0)+covM2(1,1));
vdop = std::sqrt(covM2(2,2));
}
else
{
hdop = -1.0;
vdop = -1.0;
}
return gData;
}
catch(Exception& u)
{
// Throw an exception if something unexpected happens
ProcessingException e( getClassName() + ":"
+ u.what() );
GPSTK_THROW(e);
}
} // End of method 'ComputeDOP::Process()'
void Ui3Reader::createWrapperDeclContents(const QDomElement &e)
{
QString objClass = getClassName(e);
if (objClass.isEmpty())
return;
QDomNodeList nl;
QString exportMacro;
int i;
QDomElement n;
QStringList::ConstIterator it;
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("exportmacro"));
if (nl.length() == 1)
exportMacro = nl.item(0).firstChild().toText().data();
QStringList::ConstIterator ns = namespaces.constBegin();
while (ns != namespaces.constEnd()) {
out << "namespace " << *ns << " {" << endl;
++ns;
}
out << "class ";
if (!exportMacro.isEmpty())
out << exportMacro << ' ';
out << bareNameOfClass << " : public " << objClass << ", public Ui::" << bareNameOfClass << endl << '{' << endl;
/* qmake ignore Q_OBJECT */
out << " Q_OBJECT" << endl;
out << endl;
out << "public:" << endl;
// constructor
if (objClass == QLatin1String("QDialog") || objClass == QLatin1String("QWizard")) {
out << " " << bareNameOfClass << "(QWidget* parent = 0, const char* name = 0, bool modal = false, Qt::WindowFlags fl = 0);" << endl;
} else if (objClass == QLatin1String("QWidget")) {
out << " " << bareNameOfClass << "(QWidget* parent = 0, const char* name = 0, Qt::WindowFlags fl = 0);" << endl;
} else if (objClass == QLatin1String("QMainWindow") || objClass == QLatin1String("Q3MainWindow")) {
out << " " << bareNameOfClass << "(QWidget* parent = 0, const char* name = 0, Qt::WindowFlags fl = Qt::WType_TopLevel);" << endl;
isMainWindow = true;
} else {
out << " " << bareNameOfClass << "(QWidget* parent = 0, const char* name = 0);" << endl;
}
// destructor
out << " ~" << bareNameOfClass << "();" << endl;
out << endl;
// database connections
dbConnections = unique(dbConnections);
bool hadOutput = false;
for (it = dbConnections.constBegin(); it != dbConnections.constEnd(); ++it) {
if (!(*it).isEmpty()) {
// only need pointers to non-default connections
if ((*it) != QLatin1String("(default)") && !(*it).isEmpty()) {
out << indent << "QSqlDatabase* " << *it << "Connection;" << endl;
hadOutput = true;
}
}
}
if (hadOutput)
out << endl;
QStringList publicSlots, protectedSlots, privateSlots;
QStringList publicSlotTypes, protectedSlotTypes, privateSlotTypes;
QStringList publicSlotSpecifier, protectedSlotSpecifier, privateSlotSpecifier;
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("slot"));
for (i = 0; i < (int) nl.length(); i++) {
n = nl.item(i).toElement();
if (n.parentNode().toElement().tagName() != QLatin1String("slots")
&& n.parentNode().toElement().tagName() != QLatin1String("connections"))
continue;
if (n.attribute(QLatin1String("language"), QLatin1String("C++")) != QLatin1String("C++"))
continue;
QString returnType = n.attribute(QLatin1String("returnType"), QLatin1String("void"));
QString functionName = n.firstChild().toText().data().trimmed();
if (functionName.endsWith(QLatin1Char(';')))
functionName.chop(1);
QString specifier = n.attribute(QLatin1String("specifier"));
QString access = n.attribute(QLatin1String("access"));
if (access == QLatin1String(QLatin1String("protected"))) {
protectedSlots += functionName;
protectedSlotTypes += returnType;
protectedSlotSpecifier += specifier;
} else if (access == QLatin1String("private")) {
privateSlots += functionName;
privateSlotTypes += returnType;
privateSlotSpecifier += specifier;
} else {
publicSlots += functionName;
publicSlotTypes += returnType;
publicSlotSpecifier += specifier;
}
}
QStringList publicFuncts, protectedFuncts, privateFuncts;
QStringList publicFunctRetTyp, protectedFunctRetTyp, privateFunctRetTyp;
QStringList publicFunctSpec, protectedFunctSpec, privateFunctSpec;
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("function"));
for (i = 0; i < (int) nl.length(); i++) {
n = nl.item(i).toElement();
if (n.parentNode().toElement().tagName() != QLatin1String("functions"))
continue;
if (n.attribute(QLatin1String("language"), QLatin1String("C++")) != QLatin1String("C++"))
continue;
QString returnType = n.attribute(QLatin1String("returnType"), QLatin1String("void"));
QString functionName = n.firstChild().toText().data().trimmed();
if (functionName.endsWith(QLatin1Char(';')))
functionName.chop(1);
QString specifier = n.attribute(QLatin1String("specifier"));
QString access = n.attribute(QLatin1String("access"));
if (access == QLatin1String("protected")) {
protectedFuncts += functionName;
protectedFunctRetTyp += returnType;
protectedFunctSpec += specifier;
} else if (access == QLatin1String("private")) {
privateFuncts += functionName;
privateFunctRetTyp += returnType;
privateFunctSpec += specifier;
} else {
publicFuncts += functionName;
publicFunctRetTyp += returnType;
publicFunctSpec += specifier;
}
}
QStringList publicVars, protectedVars, privateVars;
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("variable"));
for (i = 0; i < (int)nl.length(); i++) {
n = nl.item(i).toElement();
// Because of compatibility the next lines have to be commented out.
// Someday it should be uncommented.
//if (n.parentNode().toElement().tagName() != QLatin1String("variables"))
// continue;
QString access = n.attribute(QLatin1String("access"), QLatin1String("protected"));
QString var = fixDeclaration(n.firstChild().toText().data().trimmed());
if (!var.endsWith(QLatin1Char(';')))
var += QLatin1Char(';');
if (access == QLatin1String("public"))
publicVars += var;
else if (access == QLatin1String("private"))
privateVars += var;
else
protectedVars += var;
}
if (!publicVars.isEmpty()) {
for (it = publicVars.constBegin(); it != publicVars.constEnd(); ++it)
out << indent << *it << endl;
out << endl;
}
if (!publicFuncts.isEmpty())
writeFunctionsDecl(publicFuncts, publicFunctRetTyp, publicFunctSpec);
if (!publicSlots.isEmpty()) {
out << "public slots:" << endl;
if (!publicSlots.isEmpty())
writeFunctionsDecl(publicSlots, publicSlotTypes, publicSlotSpecifier);
}
// find signals
QStringList extraSignals;
nl = e.parentNode().toElement().elementsByTagName(QLatin1String("signal"));
for (i = 0; i < (int) nl.length(); i++) {
n = nl.item(i).toElement();
if (n.parentNode().toElement().tagName() != QLatin1String("signals")
&& n.parentNode().toElement().tagName() != QLatin1String("connections"))
continue;
if (n.attribute(QLatin1String("language"), QLatin1String("C++")) != QLatin1String("C++"))
continue;
QString sigName = n.firstChild().toText().data().trimmed();
if (sigName.endsWith(QLatin1Char(';')))
sigName = sigName.left(sigName.length() - 1);
extraSignals += fixDeclaration(sigName);
}
// create signals
if (!extraSignals.isEmpty()) {
out << "signals:" << endl;
for (it = extraSignals.constBegin(); it != extraSignals.constEnd(); ++it)
out << " void " << (*it) << ';' << endl;
out << endl;
}
if (!protectedVars.isEmpty()) {
out << "protected:" << endl;
for (it = protectedVars.constBegin(); it != protectedVars.constEnd(); ++it)
out << indent << *it << endl;
out << endl;
}
if (!protectedFuncts.isEmpty()) {
if (protectedVars.isEmpty())
out << "protected:" << endl;
writeFunctionsDecl(protectedFuncts, protectedFunctRetTyp, protectedFunctSpec);
}
out << "protected slots:" << endl;
out << " virtual void languageChange();" << endl;
if (!protectedSlots.isEmpty()) {
out << endl;
writeFunctionsDecl(protectedSlots, protectedSlotTypes, protectedSlotSpecifier);
}
out << endl;
// create all private stuff
if (!privateFuncts.isEmpty() || !privateVars.isEmpty()) {
out << "private:" << endl;
if (!privateVars.isEmpty()) {
for (it = privateVars.constBegin(); it != privateVars.constEnd(); ++it)
out << indent << *it << endl;
out << endl;
}
if (!privateFuncts.isEmpty())
writeFunctionsDecl(privateFuncts, privateFunctRetTyp, privateFunctSpec);
}
if (!privateSlots.isEmpty()) {
out << "private slots:" << endl;
writeFunctionsDecl(privateSlots, privateSlotTypes, privateSlotSpecifier);
}
out << "};" << endl;
for (i = 0; i < (int) namespaces.count(); i++)
out << '}' << endl;
out << endl;
}
MusicVideoTableWidget::~MusicVideoTableWidget()
{
M_CONNECTION_PTR->poolDisConnect(getClassName());
clearAllItems();
}
int annTrain::train(std::string imagesDir, int networkInputSize, float testRatio)
{
std::cout << "Reading training set..." << std::endl;
uint64 start = ofGetElapsedTimeMillis();
std::vector<std::string> files = getFilesInDirectory(imagesDir);
std::random_shuffle(files.begin(), files.end());
cv::Mat img;
for (auto it = files.begin(); it != files.end(); ++it)
{
std::string filename = *it;
//std::cout << "Reading image " << filename << "..." << std::endl;
img = cv::imread(filename, 0);
if (img.empty())
{
std::cerr << "WARNING: Could not read image." << std::endl;
continue;
}
std::string classname = getClassName(filename);
cv::Mat descriptors = getDescriptors(img);
processClassAndDesc(classname, descriptors);
}
std::cout << " Seconds : " << (ofGetElapsedTimeMillis() - start) / 1000.0 << std::endl;
std::cout << "Creating vocabulary..." << std::endl;
start = ofGetElapsedTimeMillis();
cv::Mat labels;
cv::Mat vocabulary;
// Use k-means to find k centroids (the words of our vocabulary)
cv::kmeans(descriptorsSet, networkInputSize, labels, cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 10, 0.01), 1, cv::KMEANS_PP_CENTERS, vocabulary);
// No need to keep it on memory anymore
descriptorsSet.release();
std::cout << " Seconds : " << (ofGetElapsedTimeMillis() - start) / 1000.0 << std::endl;
// Convert a set of local features for each image in a single descriptors
// using the bag of words technique
std::cout << "Getting histograms of visual words..." << std::endl;
int* ptrLabels = (int*)(labels.data);
int size = labels.rows * labels.cols;
for (int i = 0; i < size; i++)
{
int label = *ptrLabels++;
ImageData* data = descriptorsMetadata[i];
data->bowFeatures.at<float>(label)++;
}
// Filling matrixes to be used by the neural network
std::cout << "Preparing neural network..." << std::endl;
std::set<ImageData*> uniqueMetadata(descriptorsMetadata.begin(), descriptorsMetadata.end());
for (auto it = uniqueMetadata.begin(); it != uniqueMetadata.end(); )
{
ImageData* data = *it;
cv::Mat normalizedHist;
cv::normalize(data->bowFeatures, normalizedHist, 0, data->bowFeatures.rows, cv::NORM_MINMAX, -1, cv::Mat());
trainSamples.push_back(normalizedHist);
trainResponses.push_back(getClassCode(classes, data->classname));
delete *it; // clear memory
it++;
}
descriptorsMetadata.clear();
// Training neural network
std::cout << "Training neural network..." << std::endl;
start = ofGetElapsedTimeMillis();
mlp = getTrainedNeuralNetwork(trainSamples, trainResponses);
std::cout << " Seconds : " << (ofGetElapsedTimeMillis() - start) / 1000.0 << std::endl;
// We can clear memory now
trainSamples.release();
trainResponses.release();
// Train FLANN
std::cout << "Training FLANN..." << std::endl;
start = ofGetElapsedTimeMillis();
flann = cv::Ptr<cv::FlannBasedMatcher>(new cv::FlannBasedMatcher());
flann->add(vocabulary);
flann->train();
std::cout << " Seconds : " << (ofGetElapsedTimeMillis() - start) / 1000.0 << std::endl;
// Reading test set
std::cout << "Reading test set..." << std::endl;
start = ofGetElapsedTimeMillis();
readImagesToTest(files.begin() + (size_t)(files.size() * testRatio), files.end());
std::cout << " Seconds : " << (ofGetElapsedTimeMillis() - start) / 1000.0 << std::endl;
// Get confusion matrix of the test set
std::vector<std::vector<int> > confusionMatrix = getConfusionMatrix();
// how accurate is our model
std::cout << "Confusion matrix " << std::endl;
printConfusionMatrix(confusionMatrix, classes);
std::cout << "Accuracy " << getAccuracy(confusionMatrix) << std::endl;
// now save everything
std::cout << "saving models" << std::endl;
saveModels(vocabulary, classes);
return 0;
}
bool isLineEdit(QObject *object)
{
static const QString name("QLineEdit");
return (getClassName(object) == name);
}
/* Returns a reference to a satTypeValueMap object after differencing
* data type values given in 'diffTypes' field with respect to
* reference station data in 'refData' field.
*
* @param gData Data object holding the data.
*/
satTypeValueMap& DoubleOp::Process(satTypeValueMap& gData)
throw(ProcessingException)
{
try
{
// First, we get difference data between two stations
sdStations.Process(gData);
// Second, we should check if the elevation of the ref satellite
// is useable, if not, pick up a new ref satellite with the highest
// elevation
bool lookHigestElevation = true;
if(refSatID.isValid())
{
satTypeValueMap::iterator it = gData.find(refSatID);
if(it!=gData.end())
{
double elev = gData(it->first)(TypeID::elevation);
if(elev > refSatMinElev) lookHigestElevation = false;
}
}
if(lookHigestElevation)
{
double maxElevation(0.0);
// Loop through all satellites in reference station data set,
// looking for reference satellite
satTypeValueMap::iterator it;
for (it = gData.begin(); it != gData.end(); ++it)
{
// The satellite with the highest elevation will usually be
// the reference satellite
if ( gData((*it).first)(TypeID::elevation) > maxElevation )
{
refSatID = (*it).first;
maxElevation = gData((*it).first)(TypeID::elevation);
}
} // end for
} // End 'if(lookHigestElevation)'
// At last, We get the final DD data
sdSatellites.setRefSat(refSatID);
sdSatellites.Process(gData);
return gData;
}
catch(Exception& u)
{
// Throw an exception if something unexpected happens
ProcessingException e( getClassName() + ":"
+ StringUtils::asString( getIndex() ) + ":"
+ u.what() );
GPSTK_THROW(e);
}
} // End of method 'DoubleOp::Process()'
bool isGroupBox(QObject *object)
{
static const QString name("QGroupBox");
return (getClassName(object) == name);
}
template <typename PointT> void
pcl16::VoxelGrid<PointT>::applyFilter (PointCloud &output)
{
// Has the input dataset been set already?
if (!input_)
{
PCL16_WARN ("[pcl16::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
output.width = output.height = 0;
output.points.clear ();
return;
}
// Copy the header (and thus the frame_id) + allocate enough space for points
output.height = 1; // downsampling breaks the organized structure
output.is_dense = true; // we filter out invalid points
Eigen::Vector4f min_p, max_p;
// Get the minimum and maximum dimensions
if (!filter_field_name_.empty ()) // If we don't want to process the entire cloud...
getMinMax3D<PointT>(input_, filter_field_name_, static_cast<float> (filter_limit_min_), static_cast<float> (filter_limit_max_), min_p, max_p, filter_limit_negative_);
else
getMinMax3D<PointT>(*input_, min_p, max_p);
// Compute the minimum and maximum bounding box values
min_b_[0] = static_cast<int> (floor (min_p[0] * inverse_leaf_size_[0]));
max_b_[0] = static_cast<int> (floor (max_p[0] * inverse_leaf_size_[0]));
min_b_[1] = static_cast<int> (floor (min_p[1] * inverse_leaf_size_[1]));
max_b_[1] = static_cast<int> (floor (max_p[1] * inverse_leaf_size_[1]));
min_b_[2] = static_cast<int> (floor (min_p[2] * inverse_leaf_size_[2]));
max_b_[2] = static_cast<int> (floor (max_p[2] * inverse_leaf_size_[2]));
// Compute the number of divisions needed along all axis
div_b_ = max_b_ - min_b_ + Eigen::Vector4i::Ones ();
div_b_[3] = 0;
// Set up the division multiplier
divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0);
int centroid_size = 4;
if (downsample_all_data_)
centroid_size = boost::mpl::size<FieldList>::value;
// ---[ RGB special case
std::vector<sensor_msgs::PointField> fields;
int rgba_index = -1;
rgba_index = pcl16::getFieldIndex (*input_, "rgb", fields);
if (rgba_index == -1)
rgba_index = pcl16::getFieldIndex (*input_, "rgba", fields);
if (rgba_index >= 0)
{
rgba_index = fields[rgba_index].offset;
centroid_size += 3;
}
std::vector<cloud_point_index_idx> index_vector;
index_vector.reserve(input_->points.size());
// If we don't want to process the entire cloud, but rather filter points far away from the viewpoint first...
if (!filter_field_name_.empty ())
{
// Get the distance field index
std::vector<sensor_msgs::PointField> fields;
int distance_idx = pcl16::getFieldIndex (*input_, filter_field_name_, fields);
if (distance_idx == -1)
PCL16_WARN ("[pcl16::%s::applyFilter] Invalid filter field name. Index is %d.\n", getClassName ().c_str (), distance_idx);
// First pass: go over all points and insert them into the index_vector vector
// with calculated idx. Points with the same idx value will contribute to the
// same point of resulting CloudPoint
for (unsigned int cp = 0; cp < static_cast<unsigned int> (input_->points.size ()); ++cp)
{
if (!input_->is_dense)
// Check if the point is invalid
if (!pcl_isfinite (input_->points[cp].x) ||
!pcl_isfinite (input_->points[cp].y) ||
!pcl_isfinite (input_->points[cp].z))
continue;
// Get the distance value
const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&input_->points[cp]);
float distance_value = 0;
memcpy (&distance_value, pt_data + fields[distance_idx].offset, sizeof (float));
if (filter_limit_negative_)
{
// Use a threshold for cutting out points which inside the interval
if ((distance_value < filter_limit_max_) && (distance_value > filter_limit_min_))
continue;
}
else
{
// Use a threshold for cutting out points which are too close/far away
if ((distance_value > filter_limit_max_) || (distance_value < filter_limit_min_))
continue;
}
int ijk0 = static_cast<int> (floor (input_->points[cp].x * inverse_leaf_size_[0]) - min_b_[0]);
int ijk1 = static_cast<int> (floor (input_->points[cp].y * inverse_leaf_size_[1]) - min_b_[1]);
int ijk2 = static_cast<int> (floor (input_->points[cp].z * inverse_leaf_size_[2]) - min_b_[2]);
// Compute the centroid leaf index
int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
index_vector.push_back (cloud_point_index_idx (static_cast<unsigned int> (idx), cp));
}
}
// No distance filtering, process all data
else
{
// First pass: go over all points and insert them into the index_vector vector
// with calculated idx. Points with the same idx value will contribute to the
// same point of resulting CloudPoint
for (unsigned int cp = 0; cp < static_cast<unsigned int> (input_->points.size ()); ++cp)
{
if (!input_->is_dense)
// Check if the point is invalid
if (!pcl_isfinite (input_->points[cp].x) ||
!pcl_isfinite (input_->points[cp].y) ||
!pcl_isfinite (input_->points[cp].z))
continue;
int ijk0 = static_cast<int> (floor (input_->points[cp].x * inverse_leaf_size_[0]) - min_b_[0]);
int ijk1 = static_cast<int> (floor (input_->points[cp].y * inverse_leaf_size_[1]) - min_b_[1]);
int ijk2 = static_cast<int> (floor (input_->points[cp].z * inverse_leaf_size_[2]) - min_b_[2]);
// Compute the centroid leaf index
int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
index_vector.push_back (cloud_point_index_idx (static_cast<unsigned int> (idx), cp));
}
}
// Second pass: sort the index_vector vector using value representing target cell as index
// in effect all points belonging to the same output cell will be next to each other
std::sort (index_vector.begin (), index_vector.end (), std::less<cloud_point_index_idx> ());
// Third pass: count output cells
// we need to skip all the same, adjacenent idx values
unsigned int total = 0;
unsigned int index = 0;
while (index < index_vector.size ())
{
unsigned int i = index + 1;
while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx)
++i;
++total;
index = i;
}
// Fourth pass: compute centroids, insert them into their final position
output.points.resize (total);
if (save_leaf_layout_)
{
try
{
// Resizing won't reset old elements to -1. If leaf_layout_ has been used previously, it needs to be re-initialized to -1
uint32_t new_layout_size = div_b_[0]*div_b_[1]*div_b_[2];
//This is the number of elements that need to be re-initialized to -1
uint32_t reinit_size = std::min (static_cast<unsigned int> (new_layout_size), static_cast<unsigned int> (leaf_layout_.size()));
for (uint32_t i = 0; i < reinit_size; i++)
{
leaf_layout_[i] = -1;
}
leaf_layout_.resize (new_layout_size, -1);
}
catch (std::bad_alloc&)
{
throw PCLException("VoxelGrid bin size is too low; impossible to allocate memory for layout",
"voxel_grid.hpp", "applyFilter");
}
catch (std::length_error&)
{
throw PCLException("VoxelGrid bin size is too low; impossible to allocate memory for layout",
"voxel_grid.hpp", "applyFilter");
}
}
index = 0;
Eigen::VectorXf centroid = Eigen::VectorXf::Zero (centroid_size);
Eigen::VectorXf temporary = Eigen::VectorXf::Zero (centroid_size);
for (unsigned int cp = 0; cp < index_vector.size ();)
{
// calculate centroid - sum values from all input points, that have the same idx value in index_vector array
if (!downsample_all_data_)
{
centroid[0] = input_->points[index_vector[cp].cloud_point_index].x;
centroid[1] = input_->points[index_vector[cp].cloud_point_index].y;
centroid[2] = input_->points[index_vector[cp].cloud_point_index].z;
}
else
{
// ---[ RGB special case
if (rgba_index >= 0)
{
// Fill r/g/b data, assuming that the order is BGRA
pcl16::RGB rgb;
memcpy (&rgb, reinterpret_cast<const char*> (&input_->points[index_vector[cp].cloud_point_index]) + rgba_index, sizeof (RGB));
centroid[centroid_size-3] = rgb.r;
centroid[centroid_size-2] = rgb.g;
centroid[centroid_size-1] = rgb.b;
}
pcl16::for_each_type <FieldList> (NdCopyPointEigenFunctor <PointT> (input_->points[index_vector[cp].cloud_point_index], centroid));
}
unsigned int i = cp + 1;
//++Kadir
std::vector<int> tmp;
tmp.push_back (index_vector[cp].cloud_point_index);
//--Kadir
while (i < index_vector.size () && index_vector[i].idx == index_vector[cp].idx)
{
//++Kadir
// map_gid_2_pc_indices_[index_vector[i].idx].push_back(index_vector[i].cloud_point_index);
tmp.push_back (index_vector[i].cloud_point_index);
//--Kadir
if (!downsample_all_data_)
{
centroid[0] += input_->points[index_vector[i].cloud_point_index].x;
centroid[1] += input_->points[index_vector[i].cloud_point_index].y;
centroid[2] += input_->points[index_vector[i].cloud_point_index].z;
}
else
{
// ---[ RGB special case
if (rgba_index >= 0)
{
// Fill r/g/b data, assuming that the order is BGRA
pcl16::RGB rgb;
memcpy (&rgb, reinterpret_cast<const char*> (&input_->points[index_vector[i].cloud_point_index]) + rgba_index, sizeof (RGB));
temporary[centroid_size-3] = rgb.r;
temporary[centroid_size-2] = rgb.g;
temporary[centroid_size-1] = rgb.b;
}
pcl16::for_each_type <FieldList> (NdCopyPointEigenFunctor <PointT> (input_->points[index_vector[i].cloud_point_index], temporary));
centroid += temporary;
}
++i;
}
map_gid_2_pc_indices_[index] = tmp;
// index is centroid final position in resulting PointCloud
if (save_leaf_layout_)
leaf_layout_[index_vector[cp].idx] = index;
centroid /= static_cast<float> (i - cp);
// store centroid
// Do we need to process all the fields?
if (!downsample_all_data_)
{
output.points[index].x = centroid[0];
output.points[index].y = centroid[1];
output.points[index].z = centroid[2];
}
else
{
pcl16::for_each_type<FieldList> (pcl16::NdCopyEigenPointFunctor <PointT> (centroid, output.points[index]));
// ---[ RGB special case
if (rgba_index >= 0)
{
// pack r/g/b into rgb
float r = centroid[centroid_size-3], g = centroid[centroid_size-2], b = centroid[centroid_size-1];
int rgb = (static_cast<int> (r) << 16) | (static_cast<int> (g) << 8) | static_cast<int> (b);
memcpy (reinterpret_cast<char*> (&output.points[index]) + rgba_index, &rgb, sizeof (float));
}
}
cp = i;
++index;
}
output.width = static_cast<uint32_t> (output.points.size ());
}
bool isLabel(QObject *object)
{
static const QString name("QLabel");
return (getClassName(object) == name);
}
QString Namer::getClassName( const Schema::Element &element )
{
return getClassName( element.name() );
}
DXInputSystem::~DXInputSystem( void )
{
Log::Info(getClassName(), "Shutting Down");
Log::Info(getClassName(), "Finished");
}
