Status space_setSDesc(Space * s, char *sdesc)
{
assert(s && sdesc);
if (!sDesc(s))
sDesc(s) = strdup(sdesc);
return OK;
}
void space_free(Space *s){
int i;
if(!s)
return;
if(sDesc(s))
free (sDesc(s));
if(lDesc(s))
free (lDesc(s));
if(map(s)){
for(i = 0; i < rows(s); i++){
if(map(s)[i]) free (map(s)[i]);
}
free(map(s));
}
free(s);
}
char *space_getSDesc(Space * s)
{
char* description = NULL;
if (!s)
return NULL;
description = strdup(sDesc(s));
return description;
}
BOOL CGridDevListCtrl::UpdateDevList(BOOL newDevicesOnly)
{
if (newDevicesOnly)
g_App->Wdi.CreateList(FALSE, FALSE);
else
g_App->Wdi.CreateList(TRUE, TRUE);
DeleteAllItems();
// Insert data into list-control by copying from datamodel
for (int iRow = 0; iRow < g_App->Wdi.DeviceItemArray.GetCount(); iRow++)
{
PWDI_DEVICE_INFO devInfo = g_App->Wdi.DeviceItemArray.GetAt(iRow);
CString sDesc(devInfo->desc);
CString sDriver(devInfo->driver);
CString sVendorName(g_App->Wdi.GetVendorName(devInfo->vid));
CString sVid, sPid;
sVid.Format(_T("0x%04x"), devInfo->vid);
sPid.Format(_T("0x%04x"), devInfo->pid);
InsertItem(iRow, sVendorName);
SetItemData(iRow, (DWORD_PTR)devInfo);
for(int iCol = 1; iCol < GetColumnCount(); iCol++)
{
switch(iCol)
{
case 1: // Vid
SetItemText(iRow, iCol, sVid);
break;
case 2: // Pid
SetItemText(iRow, iCol, sPid);
break;
case 3: // Description
SetItemText(iRow, iCol, sDesc);
break;
case 4: // Driver
if (sDriver.IsEmpty())
SetItemText(iRow, iCol, _T("(None)"));
else
SetItemText(iRow, iCol, sDriver);
break;
default:
ASSERT(FALSE);
}
}
}
return TRUE;
}
Space * space_ini()
{
int i;
Space *s;
s = (Space *) malloc(sizeof(Space));
if (!s)
return NULL;
sId(s) = -1;
sDesc(s) = NULL;
lDesc(s) = NULL;
light(s) = FALSE;
isLocked(s) = FALSE;
map(s) = NULL;
rows(s) = -1;
cols(s) = -1;
numdoors(s) = -1;
doors(s) = NULL;
return s;
}
Space * space_ini(){
int i;
Space *s;
s = (Space *) malloc (sizeof(Space));
if(!s)
return NULL;
sId(s) = -1;
for(i = 0; i < 8; i++)
neighbour(s)[i] = -1;
sDesc(s) = NULL;
lDesc(s) = NULL;
light(s) = FALSE;
isLocked(s) = FALSE;
map(s) = NULL;
rows(s) = -1;
cols(s) = -1;
return s;
}
void R3DFeaturesThread::processWorkItem(wxString &workItem)
{
//Image<unsigned char> imageGray;
openMVG::image::Image<float> imageGray;
Regard3DFeatures::KeypointSetR3D kpSet;
wxFileName fnImage(workItem);
wxFileName fnFeature, fnDesc;
fnFeature.SetPath(pTasks_->outDir_);
fnFeature.SetName(fnImage.GetName());
fnFeature.SetExt(wxT("feat"));
fnDesc.Assign(fnFeature);
fnDesc.SetExt(wxT("desc"));
//Test if descriptor and feature was already computed
if(fnFeature.FileExists() && fnDesc.FileExists())
{
}
else
{
// Convert back to C string
std::string filename(workItem.mb_str());
std::string sFeat(fnFeature.GetFullPath().mb_str());
std::string sDesc(fnDesc.GetFullPath().mb_str());
//Not already computed, so compute and save
// if (!openMVG::ReadImage(filename.c_str(), &imageGray))
// return;
int cols = imageGray.cols();
int rows = imageGray.rows();
// Load image, convert to float, then to gray image
// Note: This is probably neither the fastest, nor the most space-efficient way to do this,
// but this way achieves better quality than by first converting an uchar-RGB-image to uchar-gray
// which involves quantization.
{
cv::Mat cvimg;
cvimg = cv::imread(filename.c_str(), cv::ImreadModes::IMREAD_COLOR | cv::ImreadModes::IMREAD_IGNORE_ORIENTATION);
int type = cvimg.type();
if(type == CV_32F)
{
int jj = 27;
}
else if(type == CV_8UC3)
{
int jj = 27;
}
// Channels
int channels = cvimg.channels();
int w = cvimg.cols;
int h = cvimg.rows;
// Convert to float
cv::Mat cvimg_float;
cvimg.convertTo(cvimg_float, CV_32FC3, 1.0/255.0, 0);
cvimg.release(); // Dispose of memory
// Convert to gray
cv::Mat cvimg_gray;
cv::cvtColor(cvimg_float, cvimg_gray, cv::COLOR_BGR2GRAY);
cvimg_float.release(); // Dispose of memory
type = cvimg_gray.type();
channels = cvimg_gray.channels();
imageGray = Eigen::Map<openMVG::image::Image<float>::Base>(cvimg_gray.ptr<float>(0), h, w);
cvimg_gray.release(); // Dispose of memory
int cols2 = imageGray.cols();
int rows2 = imageGray.rows();
}
// Compute features and descriptors and export them to file
Regard3DFeatures::detectAndExtract(imageGray, kpSet.features(),
kpSet.descriptors(), pTasks_->params_);
kpSet.saveToBinFile(sFeat, sDesc);
{
wxMutexLocker lock(*pMutex_);
doneCount_++;
numberOfKeypoints_.push_back(static_cast<int>(kpSet.features().size()));
}
sendMsgToMainFrame(workItem, kpSet.features().size());
}
}
