// covert the number to decimal double
double Base2Decimal(const char* src, unsigned int src_base, unsigned int percision){
unsigned int numSize = strlen(src);
double digitPower = 0;
double newNum = 0;
int startNum = 0;
int i = 0;
unsigned int fracPointIndex = findPoint(src);
// case of negative number
(src[0] == '-') ? startNum = 1 : startNum = 0;
// case there is no fraction point
if (fracPointIndex == numSize)
return (double)atoi(src);
// create left side of fraction point
for (i = fracPointIndex - 1; i >= startNum; --i)
newNum += (pow(src_base, digitPower++))*(char2num(src[i]));
digitPower = -1;
// create right side of fraction point
for (i = (int)fracPointIndex + 1; i < (int)numSize; ++i)
newNum += (pow(src_base, digitPower--))*(char2num(src[i]));
// case of negative number
if (src[0] == '-')
newNum = -(newNum);
return newNum;
}
// calibration function to be run at the beginning only
vector<double> calibrate(){
cvSmooth(frame, imageFiltree, CV_BLUR,seuilFiltre,seuilFiltre,0.0,0.0);
cvCvtColor(imageFiltree, imageHSV,CV_BGR2HSV);
cvInRangeS(imageHSV,cvScalar(hmin, smin, vmin, 0.0),cvScalar(hmax, smax, vmax, 0.0),imageBinaire);
cvErode(imageBinaire, imageErodee, NULL, nbErosions);
cvDilate(imageErodee, imageDilatee, NULL, nbDilatations);
imageObjectRGB = multBinColor(imageDilatee, frame);
imageObjectHSV = multBinColor(imageDilatee, imageHSV);
vector<vector<CvPoint3D32f> > vecDistinctPoints = findPoint();
// find the centroid of the object and trace it
vector<CvPoint> centroid = centroiding(vecDistinctPoints);
sort(centroid);
vector<double> tanAlphaT = vector<double>(centroid.size(),0);
double p;
for (int i=0; i<centroid.size(); i++){
p = abs(centroid[i].x - (frame->width / 2));
tanAlphaT[i] = atan(d/D-p*ratioPixelSizeF);
}
return tanAlphaT;
}
bool TlevelsPage::TwidgetCurves::setCursor(void)
{
POINT cp;
GetCursorPos(&cp);
ScreenToClient(h,&cp);
std::pair<int,int> pt=findPoint(cp.x,cp.y);
return pt.first>40?(curpoint=-1,false):(curpoint=pt.second,true);
}
void callback(int i)
{
float time;
clock_t t1, t2;
// Start timer
t1 = clock();
// Filtering, HSV to Binary Image, Erosions and Dilations
cvSmooth(frame, imageFiltree, CV_BLUR,seuilFiltre,seuilFiltre,0.0,0.0);
cvCvtColor(imageFiltree, imageHSV,CV_BGR2HSV);
cvInRangeS(imageHSV,cvScalar(hmin, smin, vmin, 0.0),cvScalar(hmax, smax, vmax, 0.0),imageBinaire);
cvErode(imageBinaire, imageErodee, NULL, nbErosions);
cvDilate(imageErodee, imageDilatee, NULL, nbDilatations);
//imageDilateeFiltree = lowPassFilter(imageDilatee); FILTER
// multiplication between the original image in RGB and HSV and the binary image
imageObjectRGB = multBinColor(imageDilatee, frame);
imageObjectHSV = multBinColor(imageDilatee, imageHSV);
// find the points and separate them (rows correspond to each point and the columns to the pixels belonging to the points)
vector<vector<CvPoint3D32f> > vecDistinctPoints = findPoint();
// find the centroid of the point and trace it
vector<CvPoint> centroid = centroiding(vecDistinctPoints);
// sort the centroids
centroid = sort(centroid);
// compute the distance with and without lens distortion
vector<double> distance = findDistance(imageObjectHSV, centroid, tanAlphaT);
// Contours
/*cvFindContours( imageDilatee, storage, &contours, sizeof(CvContour),
CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0) );*/
/*cvDrawContours( frame, contours,
CV_RGB(255,255,0), CV_RGB(0,255,0),
1, 2, 8, cvPoint(0,0));*/
cvNamedWindow(myWindow, CV_WINDOW_AUTOSIZE);
cvNamedWindow(myWindowObjectHSV, CV_WINDOW_AUTOSIZE);
cvNamedWindow(myWindowObjectRGB, CV_WINDOW_AUTOSIZE);
cvShowImage(myWindow, frame);
cvShowImage(myWindowObjectHSV, imageObjectHSV);
cvShowImage(myWindowObjectRGB, imageObjectRGB);
//cvSaveImage("NoisyGridCentroiding.png", imageObjectRGB,0);
// End timer
t2 = clock();
// Compute execution time
time = (float)(t2 - t1) / CLOCKS_PER_SEC;
cout << "execution time = " << time << " s" << endl;
}
void AngleVariation::initialise()
{
// Calculate points positions
QPointF tempPoint = QPointF();
tempPoint.setX(branchLine.p2().x() - branchLine.p1().x());
tempPoint.setY(branchLine.p2().y() - branchLine.p1().y());
branchAngle = atan2(tempPoint.y(), tempPoint.x());
origPoint = findPoint(branchAngle - variationAngle);
variationPoint = calculateOpposingPoint(origPoint);
}
// remove trailing zeros
void removeTrailingZeros(char** strNew){
char* str = *strNew;
unsigned int fracPointIndex = findPoint(str);
unsigned int index = strlen(str) - 1;
char clearZero = 1;
// while need to clear zeros or reached the fraction point
while (clearZero == 1 && index > fracPointIndex){
// replace 0 with NULL
if (str[index] == '0')
str[index--] = '\0';
else
clearZero = 0;
}
}
bool Line::find(DRAWDEBUG_PARAM_N){
LinePoint lp;
LinePoint::LinePointParam lParam = m_LineParam;
lParam.sobelThreshold = 50;
bool found = findPoint(lp,lParam DRAWDEBUG_ARG);
m_points.clear();
//std::cout<<"found::::: "<<found<<" "<<lParam.edge<<std::endl;
if(!found){
return false;
}
m_points.push_front(lp);
//found receptor point -> try to extend the line
extend(true DRAWDEBUG_ARG);
extend(false DRAWDEBUG_ARG);
return true;
}
void LaserSystem::addBeams(Laser& laser, TilePosition& tilePos)
{
// Setup everything
currentPosition = ng::vec::cast<int>(tilePos.pos);
currentDirection = laser.direction;
// Current layer is the starting layer of the beam
currentLayer = (tilePos.layer && !getLayer());
// Simulate the laser until it hits something
laser.beamCount = 0;
sf::Vector2f startPoint = tileMap.getCenterPoint<float>(tilePos.pos);
PointInfo endPoint;
do
{
// Find next point that collides
endPoint = findPoint();
Laser::Beam* beam;
if (laser.beamCount < laser.beams.size())
{
// Use an existing sprite
beam = &(laser.beams[laser.beamCount]);
}
else
{
// Setup a new sprite with the beam texture
laser.beams.emplace_back();
beam = &laser.beams.back();
ng::SpriteLoader::load(beam->sprite, textureFilename, true);
}
++laser.beamCount;
beam->sprite.setOrigin(beamWidth / 2, 0);
// Calculate and set the beam length
float beamLength = ng::vec::distance(startPoint, endPoint.position);
beam->sprite.setScale(1, beamLength);
// Set the beam's position and rotation
beam->sprite.setPosition(startPoint);
beam->sprite.setRotation(ng::vec::rotateAngle(laser.getAngle(currentDirection), 180.0));
// Set the beam's layer
beam->layer = currentLayer;
if (endPoint.state == PointInfo::State::Redirect)
{
// Change the direction based on the angle of the mirror
bool mirrorState = tileMapData(endPoint.tileId).state;
changeDirection(mirrorState, currentDirection);
}
else if (endPoint.state == PointInfo::State::Activate)
{
// Enable the laser sensor
es::Events::send(SwitchEvent{endPoint.tileId, SwitchEvent::On});
laserSensorsToDisable.erase(endPoint.tileId);
}
startPoint = endPoint.position;
}
while (endPoint.state == PointInfo::State::Redirect);
}
int main(int argc, char **argv)
{
google::SetUsageMessage("dense --help");
google::SetVersionString("1.0.0");
google::ParseCommandLineFlags(&argc, &argv, true);
int maxCorners = 10000;
double qualityLevel = 0.03;
double minDistance = 2;
std::vector<cv::Mat> all_images;
std::vector<cv::Mat> all_gray_images;
std::vector<camera_frame_wo_image> camera_frame_wo_images;
nvm_file input(FLAGS_nvm_file);
all_images.resize(input.kf_data.size());
all_gray_images.resize(input.kf_data.size());
camera_frame_wo_images.resize(input.kf_data.size());
// TODO: Add distortion parameters
for (int i=0; i<all_images.size(); i++) {
std::cerr << FLAGS_data_dir + "/" + input.kf_data[i].filename << "\n";
all_images[i] = cv::imread(FLAGS_data_dir + "/" + input.kf_data[i].filename);
cv::cvtColor(all_images[i], all_gray_images[i], CV_RGBA2GRAY);
camera_frame_wo_images[i] = camera_frame_wo_image(
input.kf_data[i].focal,
input.kf_data[i].rotation,
input.kf_data[i].translation,
all_images[i].cols/2, all_images[i].rows/2);
}
// input.corr_data.clear();
cv::Point2f center(all_images[0].cols/2, all_images[0].rows/2);
// for (int i=0; i<input.kf_data.size()-FLAGS_windows; i++) {
for (int i=0; i<1; i++) {
// Get good points in img i
std::vector<cv::Point2f> corners;
cv::goodFeaturesToTrack(all_gray_images[i], corners, maxCorners, qualityLevel, minDistance);
std::cout << "Found " << corners.size() << "\n";
int c1= 0;
for (auto pt: corners) {
std::cout << c1 << "\n";
c1++;
std::vector<triangulation_bundle> to_triangulate;
// Get correspondances in img i+1 and i+2 ...
to_triangulate.push_back(triangulation_bundle(camera_frame_wo_images[i],
makeCenterSubtracted(pt, center)));
cv::Point2f location;
for (int j=i+1; j<i + FLAGS_windows; j++) {
if (findPoint(pt, all_images[i], all_images[j], camera_frame_wo_images[i], camera_frame_wo_images[j], location)) {
to_triangulate.push_back(triangulation_bundle(camera_frame_wo_images[j],
makeCenterSubtracted(location, center)));
}
}
// Triangulate
if (to_triangulate.size()>2) {
cv::Point3f final3d = Triangulate(to_triangulate);
// Add to input 3D cloud
input.corr_data.push_back(Corr3D(final3d, findColor(all_images[i], pt)));
}
}
}
input.save_to_disk(FLAGS_output_file);
input.save_ply_file(FLAGS_output_ply);
return 0;
}
void MainWindow::refindmatch()
{
if (dm->scanSN == 0)
dm->firstFind = true;
findPoint();
}
void MainWindow::pointmatch()
{
dm->blocksize = ui->binarySlider->value();
findPoint();
}
/**
* TODO es kommt auf die suchrichtung an, was direction==true oder false tut, ab dem winkel > 90 dreht sich die suchrichtung im Bild um. Veranschaulicht wird das durch einen Kreis wobei man in den beiden oberen Quadranten sucht.
*/
void Line::extend(bool direction DRAWDEBUG){
lms::math::vertex2i pixel;
//std::cout<<"EXXXXXXXXXXXXTEND"<<std::endl;
float searchStepX;
float searchStepY;
float currentLength = 0;
float currentStepLength = m_LineParam.stepLengthMax;
bool found = false;
//search as long as the searchLength isn't reached
while(currentLength < m_LineParam.maxLength){
found = false;
//Create new point using the last data
LinePoint searchPoint;
if(direction){
searchPoint = m_points[m_points.size()-1];
}else{
searchPoint = m_points[0];
}
//get needed stuff
//float lineWidth = searchPoint.distance();
pixel.x = searchPoint.low_high.x;
pixel.y = searchPoint.low_high.y;
float oldSearchAngle = m_LineParam.searchAngle;
float oldSearchAngleOrth;
if(m_points.size() > 1){
//get angle between last two points
EdgePoint *top;
EdgePoint *bot;
if(!m_LineParam.fixedSearchAngle){
if(direction){
top = &m_points[m_points.size()-1].low_high;
bot = &m_points[m_points.size()-2].low_high;
}else{
top = &m_points[1].low_high;
bot = &m_points[0].low_high;
}
oldSearchAngle = atan2(top->y - bot->y,top->x-bot->x);
oldSearchAngle -= M_PI_2;
}
}
if(direction){
oldSearchAngleOrth = oldSearchAngle+M_PI_2;
}else{
oldSearchAngleOrth = oldSearchAngle-M_PI_2;
}
//move the point along the tangent of the line and afterwards move it from the line so the point isn't already on the line
searchStepX = cos(oldSearchAngleOrth)*currentStepLength-m_LineParam.lineWidthTransMultiplier*currentStepLength*cos(oldSearchAngle);
searchStepY = sin(oldSearchAngleOrth)*currentStepLength-m_LineParam.lineWidthTransMultiplier*currentStepLength*sin(oldSearchAngle);
//try to find a new point
//calculate new searchPoint
if(m_LineParam.target->inside(pixel.x+searchStepX,pixel.y+searchStepY)){
//move pixel
pixel += lms::math::vertex2i(searchStepX,searchStepY);
//TODO that could be made more efficient
LinePoint::LinePointParam param = m_LineParam;
param.x = pixel.x;
param.y = pixel.y;
param.searchLength = 2*m_LineParam.lineWidthTransMultiplier*currentStepLength;
param.searchAngle = oldSearchAngle;
if(findPoint(searchPoint,param DRAWDEBUG_ARG)){
found = true;
if(direction){
currentLength += searchPoint.low_high.distance(m_points[m_points.size()-1].low_high);
m_points.push_back(searchPoint);
}else{
currentLength += searchPoint.low_high.distance(m_points[0].low_high);
m_points.push_front(searchPoint);
}
}
}
//std::cout<<"FOUND "<<found<<" "<<currentLength<<std::endl;
if(!found){
//found no point, decrease length
//TODO add some better algo.
currentStepLength *= 0.5;
if(currentStepLength < m_LineParam.stepLengthMin){
//stop searching, no more points can be found on this line
//TODO return
//std::cout<<"BREAK "<<currentLength<<std::endl;
break;
}
}
}
//std::cout<<"ENDE "<< currentLength<<" max: "<<m_LineParam.maxLength<<std::endl;
}
/**
* Function ConvertOutlineToPolygon
* build a polygon (with holes) from a DRAWSEGMENT list, which is expected to be
* a outline, therefore a closed main outline with perhaps closed inner outlines.
* These closed inner outlines are considered as holes in the main outline
* @param aSegList the initial list of drawsegments (only lines, circles and arcs).
* @param aPolygons will contain the complex polygon.
* @param aTolerance is the max distance between points that is still accepted as connected (internal units)
* @param aErrorText is a wxString to return error message.
* @param aErrorLocation is the optional position of the error in the outline
*/
bool ConvertOutlineToPolygon( std::vector<DRAWSEGMENT*>& aSegList, SHAPE_POLY_SET& aPolygons,
wxString* aErrorText, unsigned int aTolerance, wxPoint* aErrorLocation )
{
if( aSegList.size() == 0 )
return true;
wxString msg;
// Make a working copy of aSegList, because the list is modified during calculations
std::vector< DRAWSEGMENT* > segList = aSegList;
DRAWSEGMENT* graphic;
wxPoint prevPt;
// Find edge point with minimum x, this should be in the outer polygon
// which will define the perimeter Edge.Cuts polygon.
wxPoint xmin = wxPoint( INT_MAX, 0 );
int xmini = 0;
for( size_t i = 0; i < segList.size(); i++ )
{
graphic = (DRAWSEGMENT*) segList[i];
switch( graphic->GetShape() )
{
case S_SEGMENT:
{
if( graphic->GetStart().x < xmin.x )
{
xmin = graphic->GetStart();
xmini = i;
}
if( graphic->GetEnd().x < xmin.x )
{
xmin = graphic->GetEnd();
xmini = i;
}
}
break;
case S_ARC:
// Freerouter does not yet understand arcs, so approximate
// an arc with a series of short lines and put those
// line segments into the !same! PATH.
{
wxPoint pstart = graphic->GetArcStart();
wxPoint center = graphic->GetCenter();
double angle = -graphic->GetAngle();
double radius = graphic->GetRadius();
int steps = GetArcToSegmentCount( radius, ARC_LOW_DEF, angle / 10.0 );
wxPoint pt;
for( int step = 1; step<=steps; ++step )
{
double rotation = ( angle * step ) / steps;
pt = pstart;
RotatePoint( &pt, center, rotation );
if( pt.x < xmin.x )
{
xmin = pt;
xmini = i;
}
}
}
break;
case S_CIRCLE:
{
wxPoint pt = graphic->GetCenter();
// pt has minimum x point
pt.x -= graphic->GetRadius();
// when the radius <= 0, this is a mal-formed circle. Skip it
if( graphic->GetRadius() > 0 && pt.x < xmin.x )
{
xmin = pt;
xmini = i;
}
}
break;
case S_CURVE:
{
graphic->RebuildBezierToSegmentsPointsList( graphic->GetWidth() );
for( unsigned int jj = 0; jj < graphic->GetBezierPoints().size(); jj++ )
{
wxPoint pt = graphic->GetBezierPoints()[jj];
if( pt.x < xmin.x )
{
xmin = pt;
xmini = i;
}
}
}
break;
case S_POLYGON:
{
const auto poly = graphic->GetPolyShape();
MODULE* module = aSegList[0]->GetParentModule();
double orientation = module ? module->GetOrientation() : 0.0;
VECTOR2I offset = module ? module->GetPosition() : VECTOR2I( 0, 0 );
for( auto iter = poly.CIterate(); iter; iter++ )
{
auto pt = *iter;
RotatePoint( pt, orientation );
pt += offset;
if( pt.x < xmin.x )
{
xmin.x = pt.x;
xmin.y = pt.y;
xmini = i;
}
}
}
break;
default:
break;
}
}
// Grab the left most point, assume its on the board's perimeter, and see if we
// can put enough graphics together by matching endpoints to formulate a cohesive
// polygon.
graphic = (DRAWSEGMENT*) segList[xmini];
// The first DRAWSEGMENT is in 'graphic', ok to remove it from 'items'
segList.erase( segList.begin() + xmini );
// Output the Edge.Cuts perimeter as circle or polygon.
if( graphic->GetShape() == S_CIRCLE )
{
int steps = GetArcToSegmentCount( graphic->GetRadius(), ARC_LOW_DEF, 360.0 );
TransformCircleToPolygon( aPolygons, graphic->GetCenter(), graphic->GetRadius(), steps );
}
else if( graphic->GetShape() == S_POLYGON )
{
MODULE* module = graphic->GetParentModule(); // NULL for items not in footprints
double orientation = module ? module->GetOrientation() : 0.0;
VECTOR2I offset = module ? module->GetPosition() : VECTOR2I( 0, 0 );
aPolygons.NewOutline();
for( auto it = graphic->GetPolyShape().CIterate( 0 ); it; it++ )
{
auto pt = *it;
RotatePoint( pt, orientation );
pt += offset;
aPolygons.Append( pt );
}
}
else
{
// Polygon start point. Arbitrarily chosen end of the
// segment and build the poly from here.
wxPoint startPt = wxPoint( graphic->GetEnd() );
prevPt = graphic->GetEnd();
aPolygons.NewOutline();
aPolygons.Append( prevPt );
// Do not append the other end point yet of this 'graphic', this first
// 'graphic' might be an arc or a curve.
for(;;)
{
switch( graphic->GetShape() )
{
case S_SEGMENT:
{
wxPoint nextPt;
// Use the line segment end point furthest away from
// prevPt as we assume the other end to be ON prevPt or
// very close to it.
if( close_st( prevPt, graphic->GetStart(), graphic->GetEnd() ) )
nextPt = graphic->GetEnd();
else
nextPt = graphic->GetStart();
aPolygons.Append( nextPt );
prevPt = nextPt;
}
break;
case S_ARC:
// We do not support arcs in polygons, so approximate
// an arc with a series of short lines and put those
// line segments into the !same! PATH.
{
wxPoint pstart = graphic->GetArcStart();
wxPoint pend = graphic->GetArcEnd();
wxPoint pcenter = graphic->GetCenter();
double angle = -graphic->GetAngle();
double radius = graphic->GetRadius();
int steps = GetArcToSegmentCount( radius, ARC_LOW_DEF, angle / 10.0 );
if( !close_enough( prevPt, pstart, aTolerance ) )
{
wxASSERT( close_enough( prevPt, graphic->GetArcEnd(), aTolerance ) );
angle = -angle;
std::swap( pstart, pend );
}
wxPoint nextPt;
for( int step = 1; step<=steps; ++step )
{
double rotation = ( angle * step ) / steps;
nextPt = pstart;
RotatePoint( &nextPt, pcenter, rotation );
aPolygons.Append( nextPt );
}
prevPt = nextPt;
}
break;
case S_CURVE:
// We do not support Bezier curves in polygons, so approximate
// with a series of short lines and put those
// line segments into the !same! PATH.
{
wxPoint nextPt;
bool reverse = false;
// Use the end point furthest away from
// prevPt as we assume the other end to be ON prevPt or
// very close to it.
if( close_st( prevPt, graphic->GetStart(), graphic->GetEnd() ) )
nextPt = graphic->GetEnd();
else
{
nextPt = graphic->GetStart();
reverse = true;
}
if( reverse )
{
for( int jj = graphic->GetBezierPoints().size()-1; jj >= 0; jj-- )
aPolygons.Append( graphic->GetBezierPoints()[jj] );
}
else
{
for( size_t jj = 0; jj < graphic->GetBezierPoints().size(); jj++ )
aPolygons.Append( graphic->GetBezierPoints()[jj] );
}
prevPt = nextPt;
}
break;
default:
if( aErrorText )
{
msg.Printf( "Unsupported DRAWSEGMENT type %s.",
BOARD_ITEM::ShowShape( graphic->GetShape() ) );
*aErrorText << msg << "\n";
}
if( aErrorLocation )
*aErrorLocation = graphic->GetPosition();
return false;
}
// Get next closest segment.
graphic = findPoint( prevPt, segList, aTolerance );
// If there are no more close segments, check if the board
// outline polygon can be closed.
if( !graphic )
{
if( close_enough( startPt, prevPt, aTolerance ) )
{
// Close the polygon back to start point
// aPolygons.Append( startPt ); // not needed
}
else
{
if( aErrorText )
{
msg.Printf( _( "Unable to find segment with an endpoint of (%s, %s)." ),
StringFromValue( MILLIMETRES, prevPt.x, true ),
StringFromValue( MILLIMETRES, prevPt.y, true ) );
*aErrorText << msg << "\n";
}
if( aErrorLocation )
*aErrorLocation = prevPt;
return false;
}
break;
}
}
}
while( segList.size() )
{
// emit a signal layers keepout for every interior polygon left...
int hole = aPolygons.NewHole();
graphic = (DRAWSEGMENT*) segList[0];
segList.erase( segList.begin() );
// Both circles and polygons on the edge cuts layer are closed items that
// do not connect to other elements, so we process them independently
if( graphic->GetShape() == S_POLYGON )
{
MODULE* module = graphic->GetParentModule(); // NULL for items not in footprints
double orientation = module ? module->GetOrientation() : 0.0;
VECTOR2I offset = module ? module->GetPosition() : VECTOR2I( 0, 0 );
for( auto it = graphic->GetPolyShape().CIterate(); it; it++ )
{
auto val = *it;
RotatePoint( val, orientation );
val += offset;
aPolygons.Append( val, -1, hole );
}
}
else if( graphic->GetShape() == S_CIRCLE )
{
// make a circle by segments;
wxPoint center = graphic->GetCenter();
double angle = 3600.0;
wxPoint start = center;
int radius = graphic->GetRadius();
int steps = GetArcToSegmentCount( radius, ARC_LOW_DEF, 360.0 );
wxPoint nextPt;
start.x += radius;
for( int step = 0; step < steps; ++step )
{
double rotation = ( angle * step ) / steps;
nextPt = start;
RotatePoint( &nextPt.x, &nextPt.y, center.x, center.y, rotation );
aPolygons.Append( nextPt, -1, hole );
}
}
else
{
// Polygon start point. Arbitrarily chosen end of the
// segment and build the poly from here.
wxPoint startPt( graphic->GetEnd() );
prevPt = graphic->GetEnd();
aPolygons.Append( prevPt, -1, hole );
// do not append the other end point yet, this first 'graphic' might be an arc
for(;;)
{
switch( graphic->GetShape() )
{
case S_SEGMENT:
{
wxPoint nextPt;
// Use the line segment end point furthest away from
// prevPt as we assume the other end to be ON prevPt or
// very close to it.
if( close_st( prevPt, graphic->GetStart(), graphic->GetEnd() ) )
{
nextPt = graphic->GetEnd();
}
else
{
nextPt = graphic->GetStart();
}
prevPt = nextPt;
aPolygons.Append( prevPt, -1, hole );
}
break;
case S_ARC:
// Freerouter does not yet understand arcs, so approximate
// an arc with a series of short lines and put those
// line segments into the !same! PATH.
{
wxPoint pstart = graphic->GetArcStart();
wxPoint pend = graphic->GetArcEnd();
wxPoint pcenter = graphic->GetCenter();
double angle = -graphic->GetAngle();
int radius = graphic->GetRadius();
int steps = GetArcToSegmentCount( radius, ARC_LOW_DEF, angle / 10.0 );
if( !close_enough( prevPt, pstart, aTolerance ) )
{
wxASSERT( close_enough( prevPt, graphic->GetArcEnd(), aTolerance ) );
angle = -angle;
std::swap( pstart, pend );
}
wxPoint nextPt;
for( int step = 1; step <= steps; ++step )
{
double rotation = ( angle * step ) / steps;
nextPt = pstart;
RotatePoint( &nextPt, pcenter, rotation );
aPolygons.Append( nextPt, -1, hole );
}
prevPt = nextPt;
}
break;
case S_CURVE:
// We do not support Bezier curves in polygons, so approximate
// with a series of short lines and put those
// line segments into the !same! PATH.
{
wxPoint nextPt;
bool reverse = false;
// Use the end point furthest away from
// prevPt as we assume the other end to be ON prevPt or
// very close to it.
if( close_st( prevPt, graphic->GetStart(), graphic->GetEnd() ) )
nextPt = graphic->GetEnd();
else
{
nextPt = graphic->GetStart();
reverse = true;
}
if( reverse )
{
for( int jj = graphic->GetBezierPoints().size()-1; jj >= 0; jj-- )
aPolygons.Append( graphic->GetBezierPoints()[jj], -1, hole );
}
else
{
for( size_t jj = 0; jj < graphic->GetBezierPoints().size(); jj++ )
aPolygons.Append( graphic->GetBezierPoints()[jj], -1, hole );
}
prevPt = nextPt;
}
break;
default:
if( aErrorText )
{
msg.Printf( "Unsupported DRAWSEGMENT type %s.",
BOARD_ITEM::ShowShape( graphic->GetShape() ) );
*aErrorText << msg << "\n";
}
if( aErrorLocation )
*aErrorLocation = graphic->GetPosition();
return false;
}
// Get next closest segment.
graphic = findPoint( prevPt, segList, aTolerance );
// If there are no more close segments, check if polygon
// can be closed.
if( !graphic )
{
if( close_enough( startPt, prevPt, aTolerance ) )
{
// Close the polygon back to start point
// aPolygons.Append( startPt, -1, hole ); // not needed
}
else
{
if( aErrorText )
{
msg.Printf( _( "Unable to find segment with an endpoint of (%s, %s)." ),
StringFromValue( MILLIMETRES, prevPt.x, true ),
StringFromValue( MILLIMETRES, prevPt.y, true ) );
*aErrorText << msg << "\n";
}
if( aErrorLocation )
*aErrorLocation = prevPt;
return false;
}
break;
}
}
}
}
return true;
}