bool RectLandmark::isEqual(const Landmark& landmark) const {
if (landmark.getType() != LandmarkType::RECT)
return false;
float eps = 1e-6;
return abs(getX() - landmark.getX()) < eps && abs(getY() - landmark.getY()) < eps
&& abs(getWidth() - landmark.getWidth()) < eps && abs(getHeight() - landmark.getHeight()) < eps;
}
bool RectLandmark::isClose(const Landmark& landmark, const float similarity) const {
if (landmark.getType() != LandmarkType::RECT)
return false;
Rect_<float> thisRect = getRect();
Rect_<float> thatRect = landmark.getRect();
float intersectionArea = (thisRect & thatRect).area();
float unionArea = thisRect.area() + thatRect.area() - intersectionArea;
return intersectionArea / unionArea >= similarity;
}
int main()
{
std::vector<Landmark> landmarks;
landmarks.reserve( 6 );
Landmark buoy1( 11.0, 3.1, 0.0, "buoy", 0 );
Landmark buoy2( 11.5, 3.0, 0.0, "buoy", 1 );
Landmark buoy3( 10.5, 2.9, 0.0, "buoy", 2 );
Landmark gate( 4.0, 2.5, 0.14, "gate" );
Landmark pipe1( 6.0, 2.0, 0.2, "pipe", 0 );
Landmark pipe2( 14.0, 3.0, 0.3, "pipe", 1 );
// add all landmarks to "landmarks" in the order they were defined above
landmarks.push_back( buoy1 );
landmarks[1] = buoy2;
*landmarks.begin() = buoy3;
landmarks.back() = gate;
landmarks.at( 3 ) = pipe1;
landmarks.insert( landmarks.begin(), pipe2 );
// for everything below this line, assume the landmarks have all been added to "landmarks" correctly
// print all the landmarks
{
unsigned int i = 0;
while( i <= landmarks.size() )
{
Landmark landmark = *( landmarks.begin() + i );
std::cout << landmark.toString() << std::endl;
}
}
// print all the landmarks
{
std::vector<Landmark>::iterator landmarks_it = landmarks.begin();
while( landmarks_it != landmarks.end() )
{
std::cout << landmarks_it->toString() << std::endl;
++landmarks_it;
}
}
// print all the landmarks
{
for( Landmark * landmark_ptr = &landmarks[0]; landmark_ptr != &landmarks[landmarks.size()]; ++landmark_ptr )
{
std::cout << landmark_ptr->toString() << std::endl;
}
}
return 0;
}
void FeatureSelector::Input(const IImage& image, const ZDouble2Pair& pair, const Landmark& landmark, const Landmark& perfect) {
assert(landmark.Count() == landmarkCount);
assert(perfect.Count() == landmarkCount);
for (size_t i = 0; i < samplers.size(); i++) {
mat.Push(samplers[i].Query(image, pair, landmark));
}
for (size_t j = 0; j < landmarkCount; j++) {
ZDouble2 d = landmark[j] - perfect[j];
diff.Push(d.x());
diff.Push(d.y());
}
}
void Gui::GetDisplayImage(cv::Mat &image)
{
cv::Mat out_left, out_right;
std::unique_lock<std::mutex> lock = lock_gui();
if(!lock)
return;
cv::drawKeypoints(current_frames_[0], current_keypoints_[0], out_left);
cv::drawKeypoints(current_frames_[1], current_keypoints_[1], out_right);
cv::hconcat(out_left, out_right, image);
// Draw correspondences
for(auto z : current_measurements_)
{
if(z.HasGoodMeasurement())
{
Eigen::MatrixXd p1 = z.Pixel(0);
Eigen::MatrixXd p2 = z.Pixel(1);
line(image, cv::Point(p1(0),p1(1)), cv::Point(p2(0)+current_frames_[0].size().width,p2(1)),cv::Scalar(0,255,0.,1.0));
}
}
/* Draw landmark tracks */
for(size_t row=0; row < track_info_.size(); ++row) {
for(MultiViewMeasurement& z: track_info_[row]->measurements_){
Landmark landmark;
if(!map_->GetLandmark(z.id().landmark_id, &landmark)){
ROS_INFO("Can't find landmark");
continue;
}
const std::vector<MeasurementId>& msr_ids = landmark.GetFeatureTrackRef();
MultiViewMeasurement z1,z2;
int cam_id = 0;
for (unsigned int ii=0; ii < msr_ids.size()-1; ++ii) {
map_->GetMeasurement(msr_ids[ii], z1);
map_->GetMeasurement(msr_ids[ii+1], z2);
if (z1.HasGoodMeasurementInCam(cam_id) && z2.HasGoodMeasurementInCam(cam_id)){
const Eigen::Vector2t& p1 = z1.Pixel(cam_id);
const Eigen::Vector2t& p2 = z2.Pixel(cam_id);
line(image, cv::Point(p1(0),p1(1)), cv::Point(p2(0),p2(1)),cv::Scalar(255,0.,0.,1.0));
}
}
}
}
}
double ManualImage2ImageRegistrationWidget::getAccuracy(QString uid)
{
DataPtr fixedData = mServices->registration()->getFixedData();
if (!fixedData)
return 1000.0;
DataPtr movingData = mServices->registration()->getMovingData();
if (!movingData)
return 1000.0;
Landmark masterLandmark = fixedData->getLandmarks()->getLandmarks()[uid];
Landmark targetLandmark = movingData->getLandmarks()->getLandmarks()[uid];
if (masterLandmark.getUid().isEmpty() || targetLandmark.getUid().isEmpty())
return 1000.0;
Vector3D p_master_master = masterLandmark.getCoord();
Vector3D p_target_target = targetLandmark.getCoord();
Transform3D rMmaster = fixedData->get_rMd();
Transform3D rMtarget = movingData->get_rMd();
Vector3D p_target_r = rMtarget.coord(p_target_target);
Vector3D p_master_r = rMmaster.coord(p_master_master);
double targetPoint[3];
double masterPoint[3];
targetPoint[0] = p_target_r[0];
targetPoint[1] = p_target_r[1];
targetPoint[2] = p_target_r[2];
masterPoint[0] = p_master_r[0];
masterPoint[1] = p_master_r[1];
masterPoint[2] = p_master_r[2];
return (vtkMath::Distance2BetweenPoints(targetPoint, masterPoint));
}
// delete unconfirmed landmarks from the given landmarks vector. buffer is used as a buffer and its contents are cleared.
void deleteUnconfirmedLandmarks(std::vector<Landmark *> * toBeCleaned, std::vector<Landmark *> * buffer, std::list<Landmark *> * total_list){
buffer->clear();
for(unsigned int i=0; i<toBeCleaned->size(); i++){
Landmark * lm = (*toBeCleaned)[i];
if(lm->isConfirmed()){
buffer->push_back(lm);
}
else{
total_list -> remove(lm);
delete lm;
}
}
toBeCleaned->clear();
for(unsigned int i=0; i<buffer->size(); i++){
toBeCleaned->push_back((*buffer)[i]);
}
buffer->clear();
}
// delete unconfirmed landmarks from the given landmarks list. buffer is used as a buffer and its contents are cleared.
void deleteUnconfirmedLandmarks(std::list<Landmark *> * landmarks, std::vector<Landmark *> * buffer){
buffer->clear();
std::list<Landmark *>::iterator iter;
for(iter = landmarks->begin(); iter!=landmarks->end(); iter++){
Landmark * lm = *iter;
if(lm->isConfirmed()){
buffer->push_back(lm);
}
else{
delete lm;
}
}
landmarks->clear();
for(unsigned int i=0; i<buffer->size(); i++){
landmarks->push_back((*buffer)[i]);
}
buffer->clear();
}
double LandmarkRegistrationWidget::getAccuracy(QString uid)
{
DataPtr fixedData = mServices->registration()->getFixedData();
if (!fixedData)
return 1000.0;
Landmark masterLandmark = fixedData->getLandmarks()->getLandmarks()[uid];
Landmark targetLandmark = this->getTargetLandmarks()[uid];
if (masterLandmark.getUid().isEmpty() || targetLandmark.getUid().isEmpty())
return 1000.0;
Vector3D p_master_master = masterLandmark.getCoord();
Vector3D p_target_target = targetLandmark.getCoord();
Transform3D rMmaster = fixedData->get_rMd();
Transform3D rMtarget = this->getTargetTransform();
Vector3D p_target_r = rMtarget.coord(p_target_target);
Vector3D p_master_r = rMmaster.coord(p_master_master);
return (p_target_r - p_master_r).length();
}
cv::Mat CroppedImage(cv::Mat img,Landmark<cv::Point> eye,Landmark<cv::Point> lips, Landmark<cv::Point>nose)
{
cv::Point Eye=eye.GetLocation();
cv::Point Lips=lips.GetLocation();
cv::Point Nose=nose.GetLocation();
int minx, maxx;
if(Eye.x<Nose.x) //right side
{
int minX=Eye.x;
if (minX>Lips.x)
{
minX=Lips.x;
}
int maxX=Nose.x;
minx=4*minX-3*maxX; //horizontal distance nose-eye = quarter of the face
if(minx<0)
{
minx=0;
}
maxx=maxX+20;//nose supposed to be on the contour
if(maxx>img.cols)
{
maxx=img.cols;
}
}
else //left side
{
int maxX=Eye.x;
if (maxX<Lips.x)
{
maxX=Lips.x;
}
int minX=Nose.x;
minx=minX-20;
if(minx<0)
{
minx=0;
}
maxx=4*maxX-3*-minX;//nose supposed to be on the contour
if(maxx>img.cols)
{
maxx=img.cols;
}
}
int minY=Eye.y;
int maxY=Nose.y;
int miny=4*minY-3*maxY; //vertical distance nose-eye = 1/7 of the face
if(miny<0)
{
miny=0;
}
int maxy=4*maxY-3*minY;
if(maxy>img.rows)
{
maxy=img.rows;
}
cv::Rect roi(minx,miny,maxx-minx,maxy-miny);
cv::Mat crop=img(roi);
return crop;
}
std::vector<cv::Mat> Backgroung(cv::Mat img,Landmark<cv::Point> eye,Landmark<cv::Point> lips, Landmark<cv::Point>nose)
{
cv::Point Eye=eye.GetLocation();
cv::Point Lips=lips.GetLocation();
cv::Point Nose=nose.GetLocation();
int minx, maxx;
if(Eye.x<Nose.x) //right side
{
int minX=Eye.x;
if (minX>Lips.x)
{
minX=Lips.x;
}
int maxX=Nose.x;
minx=4*minX-3*maxX; //horizontal distance nose-eye = quarter of the face
if(minx<0)
{
minx=0;
}
maxx=maxX+20;//nose supposed to be on the contour
if(maxx>img.cols)
{
maxx=img.cols;
}std::cout<<"he"<<std::endl;
}
else //left side
{
int maxX=Eye.x;
if (maxX<Lips.x)
{
maxX=Lips.x;
}
int minX=Nose.x;
minx=minX-20;
if(minx<0)
{
minx=0;
}
maxx=/*maxX+3*(maxX-minX)*/4*maxX-3*minX;//nose supposed to be on the contour
if(maxx>img.cols)
{
maxx=img.cols;
}
}
int minY=Eye.y;
int maxY=Nose.y;
int miny=4*minY-3*maxY; //vertical distance nose-eye = 1/7 of the face
if(miny<0)
{
miny=0;
}
int maxy=4*maxY-3*minY;
if(maxy>img.rows)
{
maxy=img.rows;
}
std::vector<cv::Mat> bg;
if (minx!=0 && miny!=0)
{
bg.push_back(img(cv::Rect(0,0,minx,miny)));
}
if (minx!=0 )
{
bg.push_back(img(cv::Rect(0,miny,minx,maxy-miny)));
}
if (miny!=0 )
{
bg.push_back(img(cv::Rect(minx,0,maxx-minx,miny)));
}
if (minx!=0 && maxy!=img.rows)
{
bg.push_back(img(cv::Rect(0,maxy,minx,img.rows-maxy)));
}
if (miny!=0 && maxx!=img.cols)
{
bg.push_back(img(cv::Rect(maxx,0,img.cols-maxx,miny)));
}
if (maxy!=img.rows)
{
bg.push_back(img(cv::Rect(minx,maxy,maxx-minx,img.rows-maxy)));
}
if(maxx!=img.cols)
{
bg.push_back(img(cv::Rect(maxx,miny,img.cols-maxx,maxy-miny)));
}
if (maxx!=img.cols && maxy!=img.rows)
{
bg.push_back(img(cv::Rect(maxx,maxy,img.cols-maxx,img.rows-maxy)));
}
return bg;
}
RectLandmark::RectLandmark(const Landmark& landmark) :
Landmark(LandmarkType::RECT, landmark.getName(), landmark.isVisible()), position(landmark.getPosition2D()), size(landmark.getSize()) {}
void generateGraphFile(char* filename, std::vector<RobotPosition *> * poses, std::vector<RobotPosition*>* transformations, std::list<Landmark *> * landmarks){
std::string graphname = basename(filename);
graphname = graphname.substr(0,graphname.length()-4);
std::ofstream g2oout((graphname+(std::string("_graph.g2o"))).c_str());
// poses
for(unsigned int i=0; i<poses->size(); i++){
RobotPosition * pose = (*poses)[i];
RobotPosition * transf = (*transformations)[i];
RobotPosition * prev_pose;
// unsigned int prev_id;
g2oout << "VERTEX_SE2 " << pose->id() << " " << pose->x() << " " << pose->y() << " " << pose->theta() << std::endl;
if(i>0){
prev_pose = (*poses)[i-1];
g2oout << "EDGE_SE2 " << prev_pose->id() << " " << pose->id() << " " << transf->x() << " " << transf->y() << " " << transf->theta() << " 500 0 0 500 0 100" << std::endl;
}
}
// landmarks
std::list<Landmark *>::iterator iter;
for(iter=landmarks->begin(); iter!=landmarks->end(); iter++){
Landmark * lmark = *iter;
if(!lmark->isConfirmed()){
continue;
}
if(!lmark->hasId()){
lmark->setId(next_id++);
lmark->idAssigned();
}
// add the landmark
g2oout << "VERTEX_XY " << lmark->id() << " " << lmark->x() << " " << lmark->y() << std::endl;
// add the associated bearing constraints
for(unsigned int o=0; o<lmark->getObservations()->size(); o++){
Observation * observation= (*(lmark->getObservations()))[o];
RobotPosition * pose = observation->pose;
g2oout << "EDGE_BEARING_SE2_XY " << pose->id() << " " << lmark->id() << " " << observation->bearing << " 200" << std::endl;
}
}
}
void populateGraph(std::vector<RobotPosition *> * poses, std::vector<RobotPosition*> * transformations, std::list<Landmark *> * landmarks){
std::cout << "clearing optimizer..." << std::endl;
// optimizer->clear();
// put poses in the graph
for(unsigned int i=0; i<poses->size(); i++){
if((*poses)[i]->already_in_graph){
continue;
}
// add this pose to the graph
optimizer->addVertex((*poses)[i]);
((*poses)[i])->already_in_graph = true;
if(i>0){
// add the constraint regarding the rototranslation performed from the previous step
g2o::EdgeSE2 * odom_edge = new g2o::EdgeSE2;
odom_edge->vertices()[0] = (*poses)[i-1];
odom_edge->vertices()[1] = (*poses)[i];
g2o::SE2 * measurement = new g2o::SE2((*transformations)[i]->x(), (*transformations)[i]->y(), (*transformations)[i]->theta());
odom_edge->setMeasurement(*measurement);
odom_edge->setInformation(*odom_info);
optimizer->addEdge(odom_edge);
}
}
// put landmarks in the graph
std::list<Landmark *>::iterator iter;
for(iter = landmarks->begin(); iter!=landmarks->end(); iter++){
Landmark * lm = *iter;
if(!lm->isConfirmed()){
continue;
}
if(lm->already_in_graph){
continue;
}
lm->already_in_graph = true;
if(!lm->hasId()){
lm->setId(next_id++);
lm->idAssigned();
}
optimizer->addVertex(lm);
for(unsigned int o=0; o<lm->getObservations()->size(); o++){
Observation * observation= (*(lm->getObservations()))[o];
RobotPosition * pose = observation->pose;
g2o::EdgeSE2PointXYBearing* obs_edge = new g2o::EdgeSE2PointXYBearing;
obs_edge->vertices()[0] = pose;
obs_edge->vertices()[1] = lm;
obs_edge->setMeasurementData(&(observation->bearing));
obs_edge->setInformation(*obs_info);
robust_kernel = new g2o::RobustKernelCauchy();
obs_edge->setRobustKernel(robust_kernel);
optimizer->addEdge(obs_edge);
}
}
optimizer->vertex(0)->setFixed(true);
optimizer->initializeOptimization();
}
void tryToUnderstand1(RobotPosition * pose, std::list<Landmark *>* landmarks,std::vector<Landmark *> * last_observations, std::vector<Landmark *> * propagate_observations){
double rpose[3];
pose->getEstimateData(rpose);
propagate_observations->clear();
std::cout << "Robot Position:\t" << rpose[0] << "\t" << rpose[1] << "\t" << rpose[2] << "\n";
double expected[last_observations->size()]; // this will contain the projections of the previously seen landmarks in the current pose
// I.E. this tells where we expect to see the landmarks propagated from the last step
bool use_general_angle_tolerance[last_observations->size()]; // this will tell if the angle tolerance to be used is the general one or the bearing-only based one
int associations[pose->observations.size()]; // this will contain the candidate associations, that will become effective ONLY IF there will be no ambiguity
for(unsigned int i=0; i<pose->observations.size(); i++){
associations[i] = -1;
}
std::cout << "We expect to see stuff at:\n";
for(unsigned int i = 0; i<last_observations->size(); i++){ // populate the expected array
Landmark * lm = (*last_observations)[i];
if(lm->getObservations()->size() > 1){ // first case: landmark already has an estimated position
expected[i] = computeAngle(lm, pose);
use_general_angle_tolerance[i] = true;
}
else{ // second case: landmark has been seen only once up to now, hence there is no position estimation
double prev_seen = (*(lm->getObservations()))[0]->bearing;
double prev_theta = (*(lm->getObservations()))[0]->pose->theta();
double rotated = computeAnglesDifference(pose->theta(), prev_theta);
expected[i] = prev_seen-rotated;
use_general_angle_tolerance[i] = false;
}
std::cout << expected[i] << "\n";
}
std::cout << "observations:\n";
for(unsigned int obs_counter=0; obs_counter < pose->observations.size(); obs_counter++){ // for every observation in the current position
std::cout << (pose->observations)[obs_counter].bearing << ": ";
// Try to assign it to a previously generated landmark
if(last_observations->size() > 0){
unsigned int closer_index;
unsigned int second_closer_index;
// compute closer_index and second_closer_index.
double distances[last_observations->size()];
for(unsigned int i=0; i < last_observations->size(); i++){
distances[i] = d_abs(computeAnglesDifference(expected[i], pose->observations[obs_counter].bearing));
} // now 'distances' contains the distance between the currently considered observation and the expected values
closer_index = 0;
if(last_observations->size() == 1){
second_closer_index = 0;
}
else{
second_closer_index = 1;
if(distances[1] < distances[0]){
closer_index = 1;
second_closer_index = 0;
}
}
for (unsigned int i = 1; i < last_observations->size(); i++){
if (distances[i] < distances[closer_index]){
second_closer_index = closer_index;
closer_index = i;
}
else{
if(distances[i] < distances[second_closer_index]){
second_closer_index = i;
}
}
}
// if closer is "close enough" and second_closer is "far enough" (I.E. there is no ambiguity)
// associate the current observation to 'closer'.
double tolerance = GENERAL_ANGLE_TOLERANCE;
if(!use_general_angle_tolerance[closer_index]){
tolerance = BEAR_ONLY_ANGLE_TOLERANCE;
}
std::cout << "tolerance is " << tolerance << "\n";
if(distances[closer_index] < tolerance){
if((second_closer_index == closer_index) || (distances[second_closer_index] > SECOND_ANGLE_MIN_DISTANCE)){
associations[obs_counter] = closer_index;
std::cout << "close to " << expected[closer_index] << "\n";
}
else{
std::cout << "close to " << expected[closer_index] << " but also to " << expected[second_closer_index] << "\n";
}
}
else{
std:: cout << "is far from everything\n";
}
// NOTE: Do not add the observation to the set inside the landmark corresponding to
// 'closer' yet, because, if two or more NEW observations are associated to the same
// landmark, none of them will be added.
}
}
// add the computed observations to the landmarks, but only if there is no ambiguity
bool associated[last_observations->size()]; // associated[i] will be true if there is at least 1 new observation associated to the i-th landmark in last_observations
bool ambiguous[last_observations->size()]; // ambiguous[i] will be true if there are at least 2 new observations associated to the i-th landmark in last_observations
// initialize the arrays just created
for(unsigned int i=0; i<last_observations->size(); i++){
associated[i] = false;
ambiguous[i] = false;
}
// tell which ones are ambiguous
for(unsigned int i=0; i < pose->observations.size(); i++){
unsigned int value = associations[i];
if(value!=-1){
if (!associated[value]){
associated[value] = true;
}
else{ // associated is true, hence there is already a new observation (or more) polling for the landmark
ambiguous[value] = true;
}
}
}
// add non-ambiguous observations to the corresponding landmarks
// and create new landmarks for the new observed unassociated observations
std::cout << "adding observations to landmarks\n";
for(unsigned int i=0; i < pose->observations.size(); i++){
std::cout << "obs " << i << " ";
if(associations[i] != -1){
if(!ambiguous[associations[i]]){
std::cout << "tailed to " << associations[i] << "\n";
Landmark * lm = (*last_observations)[associations[i]];
lm->addObservation(&(pose->observations[i]));
lm->estimatePosition();
lm->checkConfirmed(_confirm_obs);
double newpos[2];
(*last_observations)[associations[i]]->getPosition(newpos);
std::cout << "\tnew position estimated:\t" << newpos[0] << "\t" << newpos[1] << "\n";
propagate_observations->push_back((*last_observations)[associations[i]]);
}
else{
std::cout << "should be tailed to " << associations[i] << ", but there is ambiguity\n";
}
}
else{ // unassociated
std::cout << "is a new landmark\n";
Landmark * lm = new Landmark();
lm->addObservation (&(pose->observations[i]));
// lm->estimatePosition();
landmarks->push_back(lm);
propagate_observations->push_back(lm);
}
}
std::cout << "now checking landmarks from previous step\n";
for(unsigned int i = 0; i<last_observations->size(); i++){
std::cout << "prev_obs " << i << " ";
Landmark * lm = (*last_observations)[i];
if(!associated[i]){
// for the landmarks expected to be seen that are not in the current set of observations, we have two cases:
if(lm->isConfirmed()){
// case one: the landmark has been confirmed observations, then it is reliable
std::cout << "was old enough, CONFIRMED\n";
}
else{
// case two: the landmark is pretty unreliable, then it is trashed
std::cout << "was too young, REMOVED\n";
landmarks->remove(lm);
delete lm;
}
}
else{
if(ambiguous[i]){
std::cout << "was ambiguous,";
if(lm->isConfirmed()){
std::cout << " but it was considered reliable, PROPAGATED" << std::endl;
propagate_observations->push_back(lm);
}
else{
std::cout << " and it was pretty young, REMOVED" << std::endl;
landmarks->remove(lm);
delete lm;
}
}
else{
std::cout << "has been REINFORCED\n";
}
}
}
std::cout << "\n\n";
}
void
MapForm::OnReverseGeocodingRequestResultReceivedN(RequestId requestId, const IGeocodingServiceProvider& provider,
Osp::Base::Collection::IList* pLandmarks, result r, const Osp::Base::String& errorCode,
const Osp::Base::String& errorMsg)
{
if (E_SUCCESS == r && pLandmarks && pLandmarks->GetCount() > 0)
{
Landmark* pLandmark = static_cast<Landmark*>(pLandmarks->GetAt(0));
const AddressInfo* pAddressInfo = pLandmark->GetAddressInfo();
const QualifiedCoordinates* pCoords = pLandmark->GetQualifiedCoordinates();
if (pAddressInfo && pCoords)
{
String streetNumber = pAddressInfo->GetField(ADDRESS_FIELD_STREET_NUMBER);
String streetName = pAddressInfo->GetField(ADDRESS_FIELD_STREET_NAME);
String city = pAddressInfo->GetField(ADDRESS_FIELD_CITY);
String state = pAddressInfo->GetField(ADDRESS_FIELD_STATE);
String postalCode = pAddressInfo->GetField(ADDRESS_FIELD_POSTAL_CODE);
String address = "Latitude: " ;
address += Double::ToString(pCoords->GetLatitude());
address += L"\n";
address += L"Longitude: ";
address += Double::ToString(pCoords->GetLongitude());
address += L"\n";
address += L"\n";
if(!streetNumber.IsEmpty())
{
address += streetNumber;
}
if (!streetName.IsEmpty())
{
address += L" ";
address += streetName;
}
if (!city.IsEmpty())
{
address += L" ";
address += city;
}
if (!state.IsEmpty())
{
address += L", ";
address += state;
}
if (!postalCode.IsEmpty())
{
address += L" ";
address += postalCode;
}
int modalResult;
MessageBox mbox;
String title(L"Address Information");
mbox.Construct(title, address, MSGBOX_STYLE_OK, 0);
mbox.ShowAndWait(modalResult);
}
}
else if (E_SERVER == r)
{
int modalResult;
MessageBox mbox;
String title(L"It failed to get the address.");
mbox.Construct(title, errorMsg, MSGBOX_STYLE_OK, 0);
mbox.ShowAndWait(modalResult);
}
if (pLandmarks) pLandmarks->RemoveAll(true);
delete pLandmarks;
}