std::map<int, Quad> find(const cv::Mat &inputImage){
auto greyscaleImage = mEnsureGreyscale(inputImage);
std::map<int, Quad> tags;
for (const auto & quad : mFindQuads(greyscaleImage)) {
auto refinedQuad = mRefine(greyscaleImage, quad);
auto tag = mDecode(mReadBits(greyscaleImage, refinedQuad), refinedQuad);
if (tag.first != Decode::INVALID_TAG) tags[tag.first] = tag.second;
else {
tag = mDecode(mReadBits(greyscaleImage, quad), quad);
if (tag.first != Decode::INVALID_TAG) tags[tag.first] = tag.second;
}
}
return mFilter(tags);
};
//打开文件
void PCLVisualizer::fileOpenSlot()
{
//系统风格对话框
QString mCaption("Open");
QString mDir(".");
QStringList mFilters;
mFilters<<"All types (*)"
<<"3D Point cloud (*.txt)"
<<"3DC point cloud format (*.3dc *.asc)"
<<"3D Studio model format (*.3ds)"
<<"AC3D Database format (*.ac)"
<<"BSP files (*.bsp)"
<<"Biovision motion hierarchical file (*.bvh)"
<<"COLLADA 1.4.x DAE format (*.dae)"
<<"COLLADA 1.4.x ZAE format (*.zae)"
<<"dicom image format (*.mag *.ph *.ima *.dic *.dcm *.dicom)"
<<"Designer Workbench model format (*.dw)"
<<"Autodesk DXF format (*.dxf)"
<<"FBX format (*.fbx)";
QString mFilter(mFilters.join(";;"));
QString mSelectedFilter("All types (*)");
QString mQFilePath = QFileDialog::getOpenFileName(0,mCaption,mDir,mFilter,&mSelectedFilter,0);
if(!mQFilePath.isNull())
{
//显示窗口初始化
//QHBoxLayout *mHLayoutOne = new QHBoxLayout;
//ui.displayWindow->setLayout(mHLayoutOne);
//mHLayoutOne->addWidget(ui.displayWindow);
PointCloudWithNormals::Ptr mObjectAllCloud(new PointCloudWithNormals);
cloudReader(mQFilePath, mObjectAllCloud);
mPclViewer->addPointCloud(mObjectAllCloud, ColorHandlerT(mObjectAllCloud, 255.0, 0.0, 0.0), "object");
vtkSmartPointer<vtkRenderWindow> mRenderWindows;
mRenderWindows = mPclViewer->getRenderWindow();
ui.qvtkWidget->SetRenderWindow(mRenderWindows);
ui.qvtkWidget->update();
//visu.setPosition(ui.displayWindow->x(), ui.displayWindow->y());
//visu.setSize(ui.displayWindow->width(), ui.displayWindow->height());
//visu.addPointCloud (mObjectAllCloud, ColorHandlerT(mObjectAllCloud, 255.0, 0.0, 0.0), "object");//红色
////visu.addPointCloud (mSceneAllCloudN, ColorHandlerT(mSceneAllCloudN, 0.0, 255.0, 0.0), "scene");//绿色
//visu.spin();
}
}
// internal call, for use in avoiding lookup
bool LLNotificationChannelBase::updateItem(const LLSD& payload, LLNotificationPtr pNotification)
{
std::string cmd = payload["sigtype"];
LLNotificationSet::iterator foundItem = mItems.find(pNotification);
bool wasFound = (foundItem != mItems.end());
bool passesFilter = mFilter(pNotification);
// first, we offer the result of the filter test to the simple
// signals for pass/fail. One of these is guaranteed to be called.
// If either signal returns true, the change processing is NOT performed
// (so don't return true unless you know what you're doing!)
bool abortProcessing = false;
if (passesFilter)
{
abortProcessing = mPassedFilter(payload);
}
else
{
abortProcessing = mFailedFilter(payload);
}
if (abortProcessing)
{
return true;
}
if (cmd == "load")
{
// should be no reason we'd ever get a load if we already have it
// if passes filter send a load message, else do nothing
assert(!wasFound);
if (passesFilter)
{
// not in our list, add it and say so
mItems.insert(pNotification);
abortProcessing = mChanged(payload);
onLoad(pNotification);
}
}
else if (cmd == "change")
{
// if it passes filter now and was found, we just send a change message
// if it passes filter now and wasn't found, we have to add it
// if it doesn't pass filter and wasn't found, we do nothing
// if it doesn't pass filter and was found, we need to delete it
if (passesFilter)
{
if (wasFound)
{
// it already existed, so this is a change
// since it changed in place, all we have to do is resend the signal
abortProcessing = mChanged(payload);
onChange(pNotification);
}
else
{
// not in our list, add it and say so
mItems.insert(pNotification);
// our payload is const, so make a copy before changing it
LLSD newpayload = payload;
newpayload["sigtype"] = "add";
abortProcessing = mChanged(newpayload);
onChange(pNotification);
}
}
else
{
if (wasFound)
{
// it already existed, so this is a delete
mItems.erase(pNotification);
// our payload is const, so make a copy before changing it
LLSD newpayload = payload;
newpayload["sigtype"] = "delete";
abortProcessing = mChanged(newpayload);
onChange(pNotification);
}
// didn't pass, not on our list, do nothing
}
}
else if (cmd == "add")
{
// should be no reason we'd ever get an add if we already have it
// if passes filter send an add message, else do nothing
assert(!wasFound);
if (passesFilter)
{
// not in our list, add it and say so
mItems.insert(pNotification);
abortProcessing = mChanged(payload);
onAdd(pNotification);
}
}
else if (cmd == "delete")
{
// if we have it in our list, pass on the delete, then delete it, else do nothing
if (wasFound)
{
abortProcessing = mChanged(payload);
mItems.erase(pNotification);
onDelete(pNotification);
}
}
return abortProcessing;
}
std::map<std::string, cv::Matx44d> estimate(const std::map<int, Quad> &tags) {
std::map<std::string, cv::Matx44d> objects;
std::map<
const std::string, //name of the object
std::pair<
std::vector<cv::Point3f>, //points in object
std::vector<cv::Point2f> > > //points in frame
objectToPointMapping;
auto configurationIt = mId2Configuration.begin();
auto configurationEnd = mId2Configuration.end();
for (const auto &tag : tags) {
int tagId = tag.first;
const cv::Mat_<cv::Point2f> corners(tag.second);
while (configurationIt != configurationEnd
&& configurationIt->first < tagId)
++configurationIt;
if (configurationIt != configurationEnd) {
if (configurationIt->first == tagId) {
const auto &configuration = configurationIt->second;
if (configuration.second.mKeep) {
computeTransformation(cv::format("tag_%d", tagId),
configuration.second.mLocalcorners,
corners,
objects);
}
auto & pointMapping = objectToPointMapping[configuration.first];
pointMapping.first.insert(
pointMapping.first.end(),
configuration.second.mCorners.begin(),
configuration.second.mCorners.end());
pointMapping.second.insert(
pointMapping.second.end(),
corners.begin(),
corners.end());
} else if (!mOmitOtherTags) {
computeTransformation(cv::format("tag_%d", tagId),
mDefaultTagCorners,
corners,
objects);
}
} else if (!mOmitOtherTags) {
computeTransformation(cv::format("tag_%d", tagId),
mDefaultTagCorners,
corners,
objects);
}
}
for (auto& objectToPoints : objectToPointMapping) {
computeTransformation(objectToPoints.first,
objectToPoints.second.first,
cv::Mat_<cv::Point2f>(objectToPoints.second.second),
objects);
}
return mFilter(objects);
}
void operator()(F first,Args... args) {
mRaw(mFilter(first),args...);
}
R operator()(F first,Args... args) {
return mRaw(mFilter(first),args...);
}
void operator()(Args...args) {
return mFilter(mRaw(args...));
}
bool CustomRealtimeLeaf::isRealtimeActive() const
{
return mFilter();
}
bool CustomEventLeaf::isEventActive(const sf::Event& event) const
{
return mFilter(event);
}
