// 顺时针旋转90度, 根据边界范围旋转完成后自行调整图形位置
void Tetris::rotate(int min_x, int max_x, int min_y, int max_y)
{
if (key < 0)
{
return;
}
int maxX = min_x, minX = max_x, maxY = min_y, minY = max_y;
// TODO 越界处理
for (int i = 0; i < 4; i++)
{
BYTE x = positions[i].x, y = positions[i].y;
positions[i].x = y - positions[key].y + positions[key].x;
positions[i].y = positions[key].x + positions[key].y - x;
}
getMaxMin(minX, maxX, minY, maxY);
// 越界纠正
if (maxX > max_x)
{
changeX(max_x - maxX);
}
if (minX < min_x)
{
changeX(min_x - minX);
}
if (maxY > max_y)
{
changeY(max_y - maxY);
}
if (minY < min_y)
{
changeY(min_y - minY);
}
}
void Normalize(pfs::Array2D* lum_map, int nrows, int ncols)
{
float maxLum, minLum;
getMaxMin(lum_map, maxLum, minLum);
float range = maxLum - minLum;
for (int y = 0; y < nrows; y++)
for (int x = 0; x < ncols; x++)
(*lum_map)(x, y) = ((*lum_map)(x, y) - minLum) / range;
}
void ThickPlateMesh::draw(DataGraphic &data)
{
double *x;
switch (data.var) {
case W:
x = results[0];
break;
case RX:
x = results[1];
break;
case RY:
x = results[2];
break;
// case MX:
// x = results[3];
// break;
// case MY:
// x = results[4];
// break;
// case MXY:
// x = results[5];
// break;
// case QX:
// x = results[6];
// break;
// case QY:
// x = results[7];
// break;
default:
return;
break;
}
double T0, T1, T2, T3, T4, Tn, R, G, B;
getMaxMin(x, nNodes, T4, T0);
T2 = (T0+T4)/2.;
T1 = (T0+T2)/2.;
T3 = (T2+T4)/2.;
int k[4];
if(data.def)
for(int i=0; i<nElements; i++){
glBegin(GL_QUADS);
for(int ii = 0; ii<npy-1; ii++)
for(int jj = 0; jj<npx-1; jj++)
{
k[0] = elements[i]->nodes[ii*npx+jj]->index;
k[1] = elements[i]->nodes[ii*npx+jj+1]->index;
k[2] = elements[i]->nodes[(ii+1)*npx+jj+1]->index;
k[3] = elements[i]->nodes[(ii+1)*npx+jj]->index;
for(int p = 0; p<4; p++){
Tn = x[k[p]];
R = Tn<T2? 0. : (Tn>T3? 1. : (Tn-T2)/(T3-T2));
B = Tn>T2? 0. : (Tn<T1? 1. : (T2-Tn)/(T2-T1));
G = Tn<T1? (Tn-T0)/(T1-T0) : Tn>T3 ? (T4-Tn)/(T4-T3) : 1.;
glColor4d(R,G,B,0.8);
glVertex3d(nodes[k[p]]->x, nodes[k[p]]->y, data.factor*results[0][k[p]]);
}
}
glEnd();
}
else
for(int i=0; i<nElements; i++){
glBegin(GL_QUADS);
for(int ii = 0; ii<npy-1; ii++)
for(int jj = 0; jj<npx-1; jj++)
{
k[0] = elements[i]->nodes[ii*npx+jj]->index;
k[1] = elements[i]->nodes[ii*npx+jj+1]->index;
k[2] = elements[i]->nodes[(ii+1)*npx+jj+1]->index;
k[3] = elements[i]->nodes[(ii+1)*npx+jj]->index;
for(int p = 0; p<4; p++){
Tn = x[k[p]];
R = Tn<T2? 0. : (Tn>T3? 1. : (Tn-T2)/(T3-T2));
B = Tn>T2? 0. : (Tn<T1? 1. : (T2-Tn)/(T2-T1));
G = Tn<T1? (Tn-T0)/(T1-T0) : Tn>T3 ? (T4-Tn)/(T4-T3) : 1.;
glColor4d(R,G,B,0.8);
glVertex2d(nodes[k[p]]->x, nodes[k[p]]->y);
}
}
glEnd();
}
if(data.elements)
for(int i=0; i<nElements; i++)
elements[i]->draw();
if(data.load){
for(int i=0; i<nNodes; i++)
nodes[i]->draw_lock();
for(int i=0; i<nNodes; i++)
nodes[i]->draw_load();
}
if(data.nodes){
for(int i=0; i<nNodes; i++)
nodes[i]->draw();
}
}
/* The main drawing function. */
void DrawGLScene(){
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glLoadIdentity();
double RotationAngleX = 0.0;
double RotationAngleY = 0.0;
double RotationAngleZ = 0.0;
if( dim3d==1 ) RotationAngleX = -60.0;
if( dim3d==2 ) RotationAngleX = -90.0;
glTranslatef( 0.0 , 0.0 , -CAM_BACKUP );
glRotatef(RotationAngleX, 1, 0, 0);
glRotatef(RotationAngleY, 0, 1, 0);
glRotatef(RotationAngleZ, 0, 0, 1);
int q = valq;
getMaxMin();
if( print_vals==0 ){
printf("Max = %e Min = %e\n",maxval,minval);
print_vals=1;
}
double camdist = 0.0;//-CAM_BACKUP;
double xoff = offx;
double yoff = offy;
double zoff = 0.0;
if( draw_1d ){
glColor3f(1.0,1.0,1.0);
glBegin(GL_QUADS);
glVertex3f(-1./rescale-xoff,-1./rescale-yoff, camdist + zoff );
glVertex3f( 1./rescale-xoff,-1./rescale-yoff, camdist + zoff );
glVertex3f( 1./rescale-xoff, 1./rescale-yoff, camdist + zoff );
glVertex3f(-1./rescale-xoff, 1./rescale-yoff, camdist + zoff );
glEnd();
glLineWidth( 3.0f );
glColor3f(0.0,0.0,0.0);
glBegin( GL_LINE_STRIP );
int j;
// for( j=0 ; j<Nr ; ++j ){
for( j=0 ; j<Nr ; ++j ){
//if(logscale) val = log(getval(theZones[i],q))/log(10.);
double rm = r_jph[j-1];
double rp = r_jph[j];
double val = theRadialData[j][q]/max_1d;//*pow(.5*(rp+rm),1.5);//2.*(theRadialData[j][q]-minval)/(maxval-minval) - 1.;//getval(theZones[i],q);
if( q==1 ) val *= 1e2;
val = 2.*val - 1.;
double c0 = 2.*((.5*(rp+rm)-r_jph[-1])/(r_jph[Nr-1]-r_jph[-1]) - .5)/rescale;
double c1 = val/rescale;
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+.001 );
}
glEnd();
/*
glColor3f(0.5,0.5,0.5);
glBegin( GL_LINE_STRIP );
for( j=0 ; j<Nr ; ++j ){
//if(logscale) val = log(getval(theZones[i],q))/log(10.);
double rm = r_jph[j-1];
double rp = r_jph[j];
double r = .5*(rp+rm);
double val = pow(r,-1.5)/max_1d;// *pow(.5*(rp+rm),1.5);//2.*(theRadialData[j][q]-minval)/(maxval-minval) - 1.;//getval(theZones[i],q); if( q==1 ) val *= 1e2;
val = 2.*val - 1.;
double c0 = 2.*((.5*(rp+rm)-r_jph[-1])/(r_jph[Nr-1]-r_jph[-1]) - .5)/rescale; double c1 = val/rescale;
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+.001 );
}
glEnd();
*/
if( draw_planet ){
double eps = 0.01;
int p;
for( p=0 ; p<Npl ; ++p ){
double r = thePlanets[p][0];
double x = 2.*(( r - r_jph[-1] )/( r_jph[Nr-1]-r_jph[-1] ) - .5)/rescale;
glColor3f(0.0,0.0,0.0);
glLineWidth(2.0);
glBegin(GL_LINE_LOOP);
glVertex3f( x-xoff+eps , 1./rescale-yoff+eps , camdist+.001 );
glVertex3f( x-xoff-eps , 1./rescale-yoff+eps , camdist+.001 );
glVertex3f( x-xoff-eps , 1./rescale-yoff-eps , camdist+.001 );
glVertex3f( x-xoff+eps , 1./rescale-yoff-eps , camdist+.001 );
glEnd();
}
}
}else{
int Num_Draws = 1+reflect+draw_border;
int count;
int i,j;
for( count = 0 ; count < Num_Draws ; ++count ){
int draw_border_now = 0;
int draw_reflected_now = 0;
if( count==reflect+1 ) draw_border_now = 1;
if( reflect && count==1 ) draw_reflected_now = 1;
if( draw_border_now ) zoff -= .0001;
for( j=0 ; j<Nr ; ++j ){
double rm = r_jph[j-1]/rescale;
double rp = r_jph[j]/rescale;
double rc = .5*(rp+rm);
double dr = rp-rm;
if( !draw_border ){
rm = rc-.55*dr;
rp = rc+.55*dr;
}
for( i=0 ; i<Np[j] ; ++i ){
double phip = p_iph[j][i];
double phim;
if( i==0 ) phim = p_iph[j][Np[j]-1]; else phim = p_iph[j][i-1];
if( t_off && !p_off ){ phip -= t; phim -= t; }
if( p_off ){ phip -= thePlanets[1][1]; phim -= thePlanets[1][1]; }
double dp = phip-phim;
while( dp < 0.0 ) dp += 2.*M_PI;
while( dp > 2.*M_PI ) dp -= 2.*M_PI;
double phi = phim + 0.5*dp;
if( !draw_border ){
phip = phi+.55*dp;
phim = phi-.55*dp;
}
double val = (getval(theZones[j][i],q)-minval)/(maxval-minval);
if(logscale) val = (log(getval(theZones[j][i],q))/log(10.)-minval)/(maxval-minval);
if( val > 1.0 ) val = 1.0;
if( val < 0.0 ) val = 0.0;
//double u = getval( theZones[j][i] , 2 );
//if( uMax < u ) uMax = u;
float rrr,ggg,bbb;
get_rgb( val , &rrr , &ggg , &bbb , cmap );
//if( (!dim3d || (sin(phi)>0 || cos(phi+.25)<0.0)) && dim3d !=2 ){
if( dp < 1.5 && (!dim3d || (sin(phi)>0 && cos(phi)>0.0)) && dim3d !=2 ){
if( !draw_border_now ){
glColor3f( rrr , ggg , bbb );
glBegin(GL_POLYGON);
}else{
glLineWidth(3.0f);
glColor3f(0.0,0.0,0.0);
glBegin(GL_LINE_LOOP);
}
double z0 = 0.0;
if( dim3d ) z0 = z_kph[Nz-1]/rescale;
double c0 = rm*cos(phim);
double c1 = rm*sin(phim);
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+z0 );
c0 = rp*cos(phim);
c1 = rp*sin(phim);
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+z0 );
c0 = rp*cos(phi)/cos(.5*dp);
c1 = rp*sin(phi)/cos(.5*dp);
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+z0 );
c0 = rp*cos(phip);
c1 = rp*sin(phip);
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+z0 );
c0 = rm*cos(phip);
c1 = rm*sin(phip);
glVertex3f( c0-xoff, c1-yoff, camdist-zoff+z0 );
glEnd();
}
}
if( dim3d ){
int k;
for( k=0 ; k<Nz ; ++k ){
int jk = j*Nz+k;
double rp = r_jph[j]/rescale;
double rm = r_jph[j-1]/rescale;
double zp = z_kph[k]/rescale;
double zm = z_kph[k-1]/rescale;
double phi = 0.0;//rzZones[jk][Nq];
double val = (getval(rzZones[jk],q)-minval)/(maxval-minval);
if(logscale) val = (log(getval(rzZones[jk],q))/log(10.)-minval)/(maxval-minval);
if( val > 1.0 ) val = 1.0;
if( val < 0.0 ) val = 0.0;
float rrr,ggg,bbb;
get_rgb( val , &rrr , &ggg , &bbb , cmap );
if( !draw_border_now ){
glColor3f( rrr , ggg , bbb );
glBegin(GL_POLYGON);
}else{
glLineWidth(2.0f);
glColor3f(0.0,0.0,0.0);
glBegin(GL_LINE_LOOP);
}
glVertex3f( rp*cos(phi) - xoff , rp*sin(phi) - yoff + zoff, zp );
glVertex3f( rm*cos(phi) - xoff , rm*sin(phi) - yoff + zoff, zp );
glVertex3f( rm*cos(phi) - xoff , rm*sin(phi) - yoff + zoff, zm );
glVertex3f( rp*cos(phi) - xoff , rp*sin(phi) - yoff + zoff, zm );
glEnd();
}
if( draw_border_now || dim3d == 1 ){
glLineWidth(2.0f);
glColor3f(0.0,0.0,0.0);
glBegin(GL_LINE_LOOP);
double rp = r_jph[Nr-1]/rescale;
//double rm =-r_jph[Nr-1]/rescale;
double rm = r_jph[-1]/rescale;
double zp = z_kph[Nz-1]/rescale;
double zm = z_kph[ -1]/rescale;
glVertex3f( rp-xoff , -yoff+zoff , zp );
glVertex3f( rm-xoff , -yoff+zoff , zp );
glVertex3f( rm-xoff , -yoff+zoff , zm );
glVertex3f( rp-xoff , -yoff+zoff , zm );
glEnd();
}
}
}
}
if( draw_bar ){
double xb = 0.6;
double hb = 1.0;
double wb = 0.02;
int Nb = 1000;
double dy = hb/(double)Nb;
int k;
for( k=0 ; k<Nb ; ++k ){
double y = (double)k*dy - .5*hb;
double val = (double)k/(double)Nb;
float rrr,ggg,bbb;
get_rgb( val , &rrr , &ggg , &bbb , cmap );
glLineWidth(0.0f);
glColor3f( rrr , ggg , bbb );
glBegin(GL_POLYGON);
glVertex3f( xb , y , camdist + .001 );
glVertex3f( xb+wb , y , camdist + .001 );
glVertex3f( xb+wb , y+dy , camdist + .001 );
glVertex3f( xb , y+dy , camdist + .001 );
glEnd();
}
int Nv = 8;
for( k=0 ; k<Nv ; ++k ){
double y = (double)k*hb/(double)(Nv-1) - .5*hb;
double val = (double)k/(double)(Nv-1)*(maxval-minval) + minval;
char valname[256];
sprintf(valname,"%+.2e",val);
glLineWidth(1.0f);
glColor3f(0.0,0.0,0.0);
glBegin(GL_LINE_LOOP);
glVertex3f( xb , y , camdist + .0011 );
glVertex3f( xb+wb , y , camdist + .0011 );
glEnd();
glutPrint( xb+1.5*wb , y-.007 , camdist + .001 ,glutFonts[6] , valname , 0.0f, 0.0f , 0.0f , 0.5f );
}
}
if( draw_planet ){
double eps = 0.01;
int p;
for( p=0 ; p<Npl ; ++p ){
double r = thePlanets[p][0]/rescale;
double phi = thePlanets[p][1];
if( t_off && !p_off ) phi -= t;
if( p_off ) phi -= thePlanets[1][1];
glColor3f(0.0,0.0,0.0);
glLineWidth(2.0);
glBegin(GL_LINE_LOOP);
glVertex3f( r*cos(phi)-xoff+eps , r*sin(phi)-yoff+eps , camdist+.001 );
glVertex3f( r*cos(phi)-xoff-eps , r*sin(phi)-yoff+eps , camdist+.001 );
glVertex3f( r*cos(phi)-xoff-eps , r*sin(phi)-yoff-eps , camdist+.001 );
glVertex3f( r*cos(phi)-xoff+eps , r*sin(phi)-yoff-eps , camdist+.001 );
glEnd();
}
}
if( draw_spiral ){
double rp = 5.0;//thePlanets[1][0];
double Mach = 3.65;
double p0 = 1.2;
double dr = .07;
int Nr = 200;
double Rmin = 0.5;
double Rmax = 1.1;
int k;
glLineWidth(3.0f);
glColor3f(0.0,0.0,0.0);
//glColor3f(1.0,1.0,1.0);
glBegin(GL_LINE_LOOP);
for( k=0 ; k<Nr ; ++k ){
//double phi0 = ((double)k+.5)/(double)Nr*2.*M_PI;//(3.-2.*sqrt(1./r)-r)*20.;
double x = ((double)k+.5)/(double)Nr;
//double r = .001*pow(.5/.001,x);
double r = .5*pow(1.5/.5,x);
//double phi0 = p0-log(r/0.001)*Mach;//(3.-2.*sqrt(1./r)-r)*5.;
double phi0 = (3.-2.*sqrt(1./r)-r)*20.;
if( r<1. ) phi0 = -phi0;
// double x0 = rp + dr*cos(phi0);
// double y0 = dr*sin(phi0);
double phi = phi0;
// double r = rp;
// double phi = atan2(y0,x0);
// double phi = ((double)k+.5)/(double)Nr*2.*M_PI*9.32 + 4.*M_PI;
// double r = sqrt(x0*x0+y0*y0);
// double r = pow(phi/10.,-2.);
// double r = 2./(1.+sin(phi));//1.0;//((double)k+0.5)/(double)Nr*(Rmax-Rmin) + Rmin;
// if( r<1. ) phi = -phi;
r /= rescale;
glVertex3f( r*cos(phi)-xoff , r*sin(phi)-yoff , camdist + .0011 );
if( k%2==1 ){
glEnd();
glBegin(GL_LINE_LOOP);
}
}
glEnd();
/*
e += 0.01;
glBegin(GL_LINE_LOOP);
for( k=0 ; k<Nr ; ++k ){
double phi0 = ((double)k-.5)/(double)Nr*2.*M_PI;//(3.-2.*sqrt(1./r)-r)*20.;
double x0 = 1.+e*cos(phi0);
double y0 = e*sin(phi0);
double phi = atan2(y0,x0);
double r = sqrt(x0*x0+y0*y0);
// double phi = (double)k/(double)Nr*2.*M_PI;//(3.-2.*sqrt(1./r)-r)*20.;
// double r = 2./(1.+sin(phi));//1.0;//((double)k+0.5)/(double)Nr*(Rmax-Rmin) + Rmin;
// if( r<1. ) phi = -phi;
r /= rescale;
glVertex3f( r*cos(phi)-xoff , r*sin(phi)-yoff , camdist + .0011 );
if( k%2==1 ){
glEnd();
glBegin(GL_LINE_LOOP);
}
}
glEnd();
*/
}
}
if( draw_t ){
char tprint[256];
sprintf(tprint,"t = %.2e",t/2./M_PI);
glutPrint( -.6 , .5 , camdist + .001 , glutFonts[6] , tprint , 0.0f, 0.0f , 0.0f , 0.5f );
// sprintf(tprint,"uMax = %.1f",uMax);
// glutPrint( -.8 , .4 , camdist + .001 , glutFonts[6] , tprint , 0.0f, 0.0f , 0.0f , 0.5f );
}
if( help_screen ){
int NLines = 9;
double dy = -.04;
char help[NLines][256];
sprintf(help[0],"Help Display:");
sprintf(help[1],"b - Toggle Colorbar");
sprintf(help[2],"c - Change Colormap");
sprintf(help[3],"f - Toggle Max/Min Floors");
sprintf(help[4],"p - Toggle Planet Data");
sprintf(help[5],"1-9 - Choose Primitive Variable to Display");
sprintf(help[6],"wasd - Move Camera");
sprintf(help[7],"z/x - Zoom in/out");
sprintf(help[8],"h - Toggle Help Screen");
int i;
for( i=0 ; i<NLines ; ++i ){
glutPrint( -.8 , i*dy , camdist + .001 , glutFonts[6] , help[i] , 0.0f, 0.0f , 0.0f , 0.5f );
}
}
if( CommandMode ){
TakeScreenshot("out.ppm");
exit(1);
}
glutSwapBuffers();
}
void ImageProcessing::getDisparity() {
int windowSize = 9;
int DSR = 20;
//char *leftImgPath, *rightImgPath;
//cout<<"Enter full path of Left image ";
//cin>>leftImgPath;
//cout<<"Enter full path of Left image ";
//cin>>rightImgPath;
IplImage *LeftinputImage = cvLoadImage("../outputs/raw/left-0.pgm", 0);
IplImage *RightinputImage = cvLoadImage("../outputs/raw/right-0.pgm", 0);
// int width = LeftinputImage->width;
// int height = LeftinputImage->height;
/****************8U to 32F**********************/
IplImage *LeftinputImage32 = cvCreateImage(cvSize(LeftinputImage->width, LeftinputImage->height), 32, 1);
//IPL_DEPTH_32F
IplImage *RightinputImage32 = cvCreateImage(cvSize(LeftinputImage->width, LeftinputImage->height), 32, 1);
cvConvertScale(LeftinputImage, LeftinputImage32, 1 / 255.);
cvConvertScale(RightinputImage, RightinputImage32, 1 / 255.);
int offset = floor((double) windowSize / 2);
int height = LeftinputImage32->height;
int width = LeftinputImage32->width;
double *localNCC = new double[DSR];
int x = 0, y = 0, d = 0, m = 0;
int N = windowSize;
IplImage *leftWinImg = cvCreateImage(cvSize(N, N), 32, 1);
//mySubImage(LeftinputImage32,cvRect(0,0,N,N));
IplImage *rightWinImg = cvCreateImage(cvSize(N, N), 32, 1);
//mySubImage(RightinputImage32,cvRect(0,0,N,N));
IplImage *disparity = cvCreateImage(cvSize(width, height), 8, 1);
//or IPL_DEPTH_8U
BwImage imgA(disparity);
for (y = 0; y < height; y++) {
for (x = 0; x < width; x++) {
imgA[y][x] = 0;
}
}
CvScalar s1;
CvScalar s2;
for (y = 0; y < height - N; y++) {
//height-N
for (x = 0; x < width - N; x++) {
//width-N
//getWindow(i,j,leftim,wl,N);
cvSetImageROI(LeftinputImage32, cvRect(x, y, N, N));
s1 = cvAvg(LeftinputImage32, NULL);
cvSubS(LeftinputImage32, s1, leftWinImg, NULL); //zero-means
cvNormalize(leftWinImg, leftWinImg, 1, 0, CV_L2, NULL);
d = 0;
//initialise localNCC
for (m = 0; m < DSR; m++) {
localNCC[m] = 0;
}
do {
if (x - d >= 0) {
cvSetImageROI(RightinputImage32, cvRect(x - d, y, N, N));
s2 = cvAvg(RightinputImage32, NULL);
cvSubS(RightinputImage32, s2, rightWinImg, NULL); //zero-means
cvNormalize(rightWinImg, rightWinImg, 1, 0, CV_L2, NULL);
} else {
break;
}
localNCC[d] = cvDotProduct(leftWinImg, rightWinImg);
cvResetImageROI(RightinputImage32);
d++;
} while (d <= DSR);
//to find the best d and store
imgA[y + offset][x + offset] = getMaxMin(localNCC, DSR, 1) *16;
cvResetImageROI(LeftinputImage32);
} //x
if (y % 10 == 0)
cout << "row=" << y << " of " << height << endl;
} //y
cvReleaseImage(&leftWinImg);
cvReleaseImage(&rightWinImg);
cvSaveImage("disparity.pgm", disparity);
waitHere();
//cv::imwrite("disparity.pgm",&disparity);
cout << "Displaying Disparity image" << endl;
// cvShowImage( "Disparity", disparity);
//cv::waitKey(0);
//return disparity;
}
