void KHalfEdgeMeshPrivate::connectEdges(KHalfEdgeMeshPrivate::HalfEdge *edge)
{
HalfEdge *prev = twin(cwBounds(edge));
do
{
prev->next = index(edge);
edge = prev;
prev = twin(cwBounds(edge));
} while (prev->next == 0);
}
int main(int argc, char **argv){
if(argc<2){
std::cout<<"Need to specify the calibration file"<<std::endl;
return 1;
}
Mat img1,img2;
TwinCamera twin(0,1);
twin.getDoubleImages(img1,img2);
twin.loadCameraParameters(argv[1], img1, img2);
Screen image1("Image1");
Screen image2("Image2");
Screen disp("Disparity");
StereoDepth stereoDepth;
char c = 0;
while(c!=27){
switch(c){
case '1':
image1.putImage(img1);
image2.putImage(img2);
break;
case '3':
twin.getDoubleImages(img1,img2);
twin.rectifyForStereo(img1, img2);
stereoDepth.setImage1(img1);
stereoDepth.setImage2(img2);
if(stereoDepth.doDepth()){
disp.putImage(stereoDepth.getDisparity());
}break;
}
c = waitKey(10);
}
}
inline KHalfEdgeMeshPrivate::HalfEdgeIndex KHalfEdgeMeshPrivate::cwBoundsIndex(HalfEdgeIndex idx) const
{
while (twin(idx)->face != 0)
{
idx = cwSwivelIndex(idx);
}
return idx;
}
inline KHalfEdgeMeshPrivate::HalfEdgeIndex KHalfEdgeMeshPrivate::cwSwivelIndex(HalfEdgeIndex const &idx) const
{
return twin(idx)->next;
}
inline KVector3D KHalfEdgeMeshPrivate::edgeVector(HalfEdge const *he) const
{
return vertex(he->to)->position - vertex(twin(he)->to)->position;
}
int main(){
int i,j,k,l,c;
// freopen("in.txt","r",stdin);
scanf("%d",&n);
for(i=0;i<=2*n+60;i++) pre[i]=i;
while(scanf("%d %d %d",&c,&k,&l)==3){
if(!c&&!k&&!l) break;
k++; l++;
k*=2; l*=2;
if(c==1){
if(find(twin(k))==find(l)||find(twin(l))==find(k)) printf("-1\n");
else {
Union(find(twin(k)),find(twin(l))); Union(find(l),find(k));
}
}
else if(c==2){
if(find(k)==find(l)||find(twin(l))==find(twin(k))) printf("-1\n");
else {
Union(find(twin(k)),find(l)); Union(find(twin(l)),find(k));
}
}
else if(c==3){
if(find(k)==find(l)||find(twin(l))==find(twin(k))) printf("1\n");
else printf("0\n");
}
else if(c==4){
if(find(twin(k))==find(l)||find(twin(l))==find(k)) printf("1\n");
else printf("0\n");
}
}
return 0;
}
int main(int argc, char **argv){
if(argc<3){
std::cout<<"Need to specify the calibration and plane files"<<std::endl;
return 1;
}
//reating the disparity map for the empty truck
cv::Mat img1,img2, disparity;
TwinCamera twin(0,1);
if(argc!=5){
twin.getDoubleImages(img1,img2);
}else{
img1 = cv::imread(argv[3]);
img2 = cv::imread(argv[4]);
}
twin.loadCameraParameters(argv[1], img1, img2);
StereoDepth stereoDepth;
twin.rectifyForStereo(img1, img2);
stereoDepth.setImage1(img1);
stereoDepth.setImage2(img2);
if(stereoDepth.doDepth()){
disparity = stereoDepth.getDisparity();
imwrite("left.png",img1);
imwrite("right.png",img2);
imwrite("diparity.png", disparity);
}else{
std::cout<<"Error when computing the stereo image."<<std::endl;
return 1;
}
//creating the computePlanes object with 5 planes to calculate
pclGetPlanes computePlanes(5);
pclView viewtest;
pcl::PointCloud<pcl::PointXYZ>::Ptr points(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr points_full;
cv::Mat Q;
cv::FileStorage fs(argv[1], cv::FileStorage::READ);
fs["Q"] >> Q;
fs.release();
cv::FileStorage fs2(argv[2], cv::FileStorage::READ);
std::vector<double> left_plane;
std::vector<double> right_plane;
std::vector<double> top_plane;
std::vector<double> bottom_plane;
std::vector<double> back_plane;
for(int i=0; i<4;i++){
double val;
char c = (i+'a');
fs2[std::string("left_plane_").append(1u,c)] >> val;
left_plane.push_back(val);
fs2[std::string("right_plane_").append(1u,c)] >> val;
right_plane.push_back(val);
fs2[std::string("top_plane_").append(1u,c)] >> val;
top_plane.push_back(val);
fs2[std::string("bottom_plane_").append(1u,c)] >> val;
bottom_plane.push_back(val);
fs2[std::string("back_plane_").append(1u,c)] >> val;
back_plane.push_back(val);
}
try{
computePlanes.setCoeficientsForIndex(left_plane, pclGetPlanes::LEFT_CUT);
computePlanes.setCoeficientsForIndex(right_plane, pclGetPlanes::RIGHT_CUT);
computePlanes.setCoeficientsForIndex(top_plane, pclGetPlanes::TOP_CUT);
computePlanes.setCoeficientsForIndex(bottom_plane, pclGetPlanes::BOTTOM_CUT);
computePlanes.setCoeficientsForIndex(back_plane, pclGetPlanes::BACK_CUT);
}catch(std::runtime_error &exp){
std::cerr<<exp.what()<<std::endl;
return 0;
}
points_full = viewtest.convertToPointCloudNoColor(disparity, Q);
for(int i=0; i<points_full->points.size(); i++){
if( (computePlanes.isOnPlane(points_full->points[i], pclGetPlanes::LEFT_CUT)) ||
(computePlanes.isOnPlane(points_full->points[i], pclGetPlanes::RIGHT_CUT)) ||
(computePlanes.isOnPlane(points_full->points[i], pclGetPlanes::TOP_CUT)) ||
(computePlanes.isOnPlane(points_full->points[i], pclGetPlanes::BACK_CUT)) ||
(computePlanes.isOnPlane(points_full->points[i], pclGetPlanes::BOTTOM_CUT))) {
continue;
}
points->points.push_back(points_full->points[i]);
}
if(points->points.size() == 0){
std::cout<<"Percentage: 0.0%"<<std::endl;
}
std::cout<<"Valid points: "<<points->points.size()<<std::endl;
double total_occupied_volume = 0.0;
pcl::PointXYZ origin;
origin.x=origin.y=origin.z=0;
double back_plane_distance = computePlanes.distanceFromPlane(origin, pclGetPlanes::BACK_CUT);
for(int i=0; i<points->points.size(); i++){
total_occupied_volume += computePlanes.distanceFromPlane(points->points[i], pclGetPlanes::BACK_CUT)/back_plane_distance;
}
std::cout<<"Total occupied volume(voxels): "<<total_occupied_volume <<std::endl;
std::cout<<"Total occupied volume(cm^3): "<<(430*total_occupied_volume) <<std::endl;
std::cout<<"Percentage: "<<(total_occupied_volume/(640*480) *100)<<"%"<<std::endl;
return 0;
}
TTFD_TYPE = 0x19,
RC_TYPE = 0x1A,
TEMP_TYPE = 0x1B,
DRVOBJ_TYPE = 0x1C,
DCIOBJ_TYPE = 0x1D,
SPOOL_TYPE = 0x1E,
EMF_TYPE = 0x21,
PEN_TYPE = 0x30,
EXTPEN_TYPE = 0x50
} GdiObjectType;
const DicItem Dic_GdiObjectType[] =
{
twin(DEF_TYPE),
item(DC_TYPE, "HDC"),
twin(DD_DRAW_TYPE),
twin(DD_SURF_TYPE),
item(RGN_TYPE, "HRGN"),
item(SURF_TYPE, "HBITMAP"),
twin(CLIOBJ_TYPE),
item(PATH_TYPE, "HPATH"),
item(PAL_TYPE, "HPALETTE"),
twin(ICMCS_TYPE),
item(LFONT_TYPE, "HFONT"),
twin(RFONT_TYPE),
twin(PFE_TYPE),
twin(PFT_TYPE),
twin(ICMCXT_TYPE),
// Returns true if the edge is curved (parabolic arc).
// Returns false if the edge is linear (segment, ray, line).
bool is_curved() const {
if (!is_primary())
return false;
return (cell()->contains_segment() ^ twin()->cell()->contains_segment());
}
// Returns true if the edge is linear (segment, ray, line).
// Returns false if the edge is curved (parabolic arc).
bool is_linear() const {
if (!is_primary())
return true;
return !(cell()->contains_segment() ^ twin()->cell()->contains_segment());
}
