int giperbola::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QDialog::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: viz(); break;
case 1: noviz(); break;
case 2: pok(); break;
case 3: skryt(); break;
case 4: nazad(); break;
case 5: vmenu(); break;
default: ;
}
_id -= 6;
}
return _id;
}
int
main (int argc, char** argv)
{
pcl::visualization::PCLVisualizer viz ("Visualizator");
viz.addCoordinateSystem (1.0);
viz.addText3D ("Following text", pcl::PointXYZ(0.0, 0.0, 0.0),
1.0, 1.0, 0.0, 0.0, "id_following");
viz.spin ();
double orientation[3] = {0., 0., 0.};
viz.addText3D ("Fixed text", pcl::PointXYZ(0.0, 0.0, 0.0), orientation,
1.0, 0.0, 1.0, 0.0, "id_fixed");
viz.spin ();
viz.removeText3D ("id_following");
viz.spin ();
viz.removeText3D ("id_fixed");
viz.spin ();
return (0);
}
Test::Test()
{
std::cout<<"Test Obj created";
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
uint8_t r(255), g(15), b(15);
pcl::PointXYZ basic_point;
basic_point.x = 0.5;
basic_point.y = 0.5;
basic_point.z = 0.5;
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
basic_point.x = -0.5;
basic_point.y = -0.5;
basic_point.z = -0.5;
rgb = (static_cast<uint32_t>(15) << 16 |
static_cast<uint32_t>(255) << 8 | static_cast<uint32_t>(15));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
//basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size ();
//basic_cloud_ptr->height = 1;
//point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
//point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viz("My cloud viewer");
viz.showCloud(point_cloud_ptr);
//viz.spin();
while(!viz.wasStopped())
{
}
}
int tester(void)
{
int i,j;
int e = 0;
fld = malloc(NROWS * sizeof(int *));/*[5][5] = {
{1,6,11,16,21},
{2,7,12,17,22},
{3,8,13,18,23},
{4,9,14,19,24},
{5,10,15,20,25}
};*/
if(fld == NULL){
printf("Oops, couldn't ``malloc''?");
return(1);
}
for(i=0; i<NROWS; i++){
fld[i] = malloc(NCOLS * sizeof(int));
if(fld[i] == NULL){
printf("Hmm, couldn't do the second-dimension ``malloc''.");
return(1);
}
}
/* Initialize the array! */
for(j=0;j<NROWS;j++){
for(i=0;i<NCOLS;i++){
fld[i][j] = e;
e++;
}
}
#ifdef TEST
for(j=0;j<NROWS;j++){
for(i=0;i<NCOLS;i++){
printf("%d\t",fld[i][j]);
if((i+1) == x) printf("\n");
}
}
#endif
printf("About to test the printer function.\n\n");
viz(fld);
/* Should show:
0 1 2
3 4 5
6 7 8
Or some similar such, depending on NCOLS and NROWS
*/
/* Kill all cells! They should be all 0's now.*/
for(j=0;j<NROWS;j++){
for(i=0;i<NCOLS;i++){
killf(i,j);
}
}
viz(fld);
/* Spawn all cells! They should be all 1's now.*/
for(j=0;j<NROWS;j++){
for(i=0;i<NCOLS;i++){
spawn(i,j);
}
}
viz(fld);
printf("A corner cell should have 3 live neighbours: %d\n", friends(0,0));
printf("A middle cell should have 8 live neighbours: %d\n", friends(1,1));
printf("A side cell should have 5 live neighbours: %d\n", friends(1,0));
printf("Goodbye\n\n");
/* Try some basic tests of the generator and rule. */
for(j=0;j<NROWS;j++){
for(i=0;i<NCOLS;i++){
killf(i,j);
}
}
spawn(0,1);
spawn(1,1);
spawn(2,1);
viz(fld);
generator(1);
viz(fld);
generator(1);
viz(fld);
printf("\n\nDone testing.\n\n");
return(0);
}
void flexionFDSimulationWithHitMap(Model& model)
{
addFlexionController(model);
//addExtensionController(model);
//addTibialLoads(model, 0);
model.setUseVisualizer(true);
// init system
std::time_t result = std::time(nullptr);
std::cout << "\nBefore initSystem() " << std::asctime(std::localtime(&result)) << endl;
SimTK::State& si = model.initSystem();
result = std::time(nullptr);
std::cout << "\nAfter initSystem() " << std::asctime(std::localtime(&result)) << endl;
// set gravity
//model.updGravityForce().setGravityVector(si, Vec3(-9.80665,0,0));
//model.updGravityForce().setGravityVector(si, Vec3(0,0,0));
//setHipAngle(model, si, 90);
//setKneeAngle(model, si, 0, false, false);
//model.equilibrateMuscles( si);
MultibodySystem& system = model.updMultibodySystem();
SimbodyMatterSubsystem& matter = system.updMatterSubsystem();
GeneralForceSubsystem forces(system);
ContactTrackerSubsystem tracker(system);
CompliantContactSubsystem contactForces(system, tracker);
contactForces.setTrackDissipatedEnergy(true);
//contactForces.setTransitionVelocity(1e-3);
for (int i=0; i < matter.getNumBodies(); ++i) {
MobilizedBodyIndex mbx(i);
if (i==19 || i==20 || i==22)// || i==15 || i==16)
{
MobilizedBody& mobod = matter.updMobilizedBody(mbx);
std::filebuf fb;
//cout << mobod.updBody().
if (i==19)
fb.open ( "../resources/femur_lat_r.obj",std::ios::in);
else if (i==20)
fb.open ( "../resources/femur_med_r.obj",std::ios::in);
else if (i==22)
fb.open ( "../resources/tibia_upper_r.obj",std::ios::in);
//else if (i==15)
//fb.open ( "../resources/meniscus_lat_r.obj",std::ios::in);
//else if (i==16)
//fb.open ( "../resources/meniscus_med_r.obj",std::ios::in);
std::istream is(&fb);
PolygonalMesh polMesh;
polMesh.loadObjFile(is);
fb.close();
SimTK::ContactGeometry::TriangleMesh mesh(polMesh);
ContactSurface contSurf;//(mesh, ContactMaterial(1.0e6, 1, 1, 0.03, 0.03), 0.001);
if (i==19 || i==20 || i==22)
contSurf = ContactSurface(mesh, ContactMaterial(10, 1, 1, 0.03, 0.03), 0.001);
//else if (i==15 || i==16)
//contSurf = ContactSurface(mesh, ContactMaterial(10, 3, 1, 0.03, 0.03), 0.001);
DecorativeMesh showMesh(mesh.createPolygonalMesh());
showMesh.setOpacity(0.5);
mobod.updBody().addDecoration( showMesh);
mobod.updBody().addContactSurface(contSurf);
}
}
ModelVisualizer& viz(model.updVisualizer());
//Visualizer viz(system);
viz.updSimbodyVisualizer().addDecorationGenerator(new HitMapGenerator(system,contactForces));
viz.updSimbodyVisualizer().setMode(Visualizer::RealTime);
viz.updSimbodyVisualizer().setDesiredBufferLengthInSec(1);
viz.updSimbodyVisualizer().setDesiredFrameRate(30);
viz.updSimbodyVisualizer().setGroundHeight(-3);
viz.updSimbodyVisualizer().setShowShadows(true);
Visualizer::InputSilo* silo = new Visualizer::InputSilo();
viz.updSimbodyVisualizer().addInputListener(silo);
Array_<std::pair<String,int> > runMenuItems;
runMenuItems.push_back(std::make_pair("Go", GoItem));
runMenuItems.push_back(std::make_pair("Replay", ReplayItem));
runMenuItems.push_back(std::make_pair("Quit", QuitItem));
viz.updSimbodyVisualizer().addMenu("Run", RunMenuId, runMenuItems);
Array_<std::pair<String,int> > helpMenuItems;
helpMenuItems.push_back(std::make_pair("TBD - Sorry!", 1));
viz.updSimbodyVisualizer().addMenu("Help", HelpMenuId, helpMenuItems);
system.addEventReporter(new MyReporter(system,contactForces,ReportInterval));
//system.addEventReporter(new Visualizer::Reporter(viz.updSimbodyVisualizer(), ReportInterval));
// Check for a Run->Quit menu pick every <x> second.
system.addEventHandler(new UserInputHandler(*silo, 0.001));
system.realizeTopology();
//Show ContactSurfaceIndex for each contact surface
// for (int i=0; i < matter.getNumBodies(); ++i) {
//MobilizedBodyIndex mbx(i);
// const MobilizedBody& mobod = matter.getMobilizedBody(mbx);
// const int nsurfs = mobod.getBody().getNumContactSurfaces();
//printf("mobod %d has %d contact surfaces\n", (int)mbx, nsurfs);
////cout << "mobod with mass: " << (float)mobod.getBodyMass(si) << " has " << nsurfs << " contact surfaces" << endl;
// //for (int i=0; i<nsurfs; ++i) {
// //printf("%2d: index %d\n", i,
// //(int)tracker.getContactSurfaceIndex(mbx,i));
// //}
// }
//cout << "tracker num of surfaces: " << tracker.getNumSurfaces() << endl;
//State state = system.getDefaultState();
//viz.report(state);
State& state = model.initializeState();
viz.updSimbodyVisualizer().report(state);
// Add reporters
ForceReporter* forceReporter = new ForceReporter(&model);
model.addAnalysis(forceReporter);
CustomAnalysis* customReporter = new CustomAnalysis(&model, "r");
model.addAnalysis(customReporter);
// Create the integrator and manager for the simulation.
SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
//SimTK::CPodesIntegrator integrator(model.getMultibodySystem());
//integrator.setAccuracy(.01);
//integrator.setAccuracy(1e-3);
//integrator.setFixedStepSize(0.001);
Manager manager(model, integrator);
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 0.2;
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout<<"\n\nIntegrating from "<<initialTime<<" to " <<finalTime<<std::endl;
result = std::time(nullptr);
std::cout << "\nBefore integrate(si) " << std::asctime(std::localtime(&result)) << endl;
manager.integrate(state);
result = std::time(nullptr);
std::cout << "\nAfter integrate(si) " << std::asctime(std::localtime(&result)) << endl;
// Save the simulation results
Storage statesDegrees(manager.getStateStorage());
statesDegrees.print("../outputs/states_flex.sto");
model.updSimbodyEngine().convertRadiansToDegrees(statesDegrees);
statesDegrees.setWriteSIMMHeader(true);
statesDegrees.print("../outputs/states_degrees_flex.mot");
// force reporter results
forceReporter->getForceStorage().print("../outputs/force_reporter_flex.mot");
//customReporter->print( "../outputs/custom_reporter_flex.mot");
//cout << "You can choose 'Replay'" << endl;
int menuId, item;
unsigned int frameRate = 5;
do {
cout << "Please choose 'Replay' or 'Quit'" << endl;
viz.updInputSilo().waitForMenuPick(menuId, item);
if (item != ReplayItem && item != QuitItem)
cout << "\aDude... follow instructions!\n";
if (item == ReplayItem)
{
cout << "Type desired frame rate (integer) for playback and press Enter (default = 1) : ";
//frameRate = cin.get();
cin >> frameRate;
if (cin.fail())
{
cout << "Not an int. Setting default frame rate." << endl;
cin.clear();
cin.ignore(std::numeric_limits<int>::max(),'\n');
frameRate = 1;
}
//cout << "saveEm size: " << saveEm.size() << endl;
for (unsigned int i=0; i<saveEm.size(); i++)
{
viz.updSimbodyVisualizer().drawFrameNow(saveEm.getElt(i));
if (frameRate == 0)
frameRate = 1;
usleep(1000000/frameRate);
}
}
} while (menuId != RunMenuId || item != QuitItem);
}
int main(int argc, char **argv) {
InitVars(argc, argv, "segment.cfg");
if (argc != 2) {
DLOG << "Usage: "<<argv[0]<<" INPUT"<<endl;
exit(-1);
}
// Read image
ImageBundle image(argv[1]);
const int& w = image.nx();
const int& h = image.ny();
image.BuildHSV();
// Convert to HSV and mono
WriteHueOnly("out/h_only.png", image.hsv);
// Segment
FHSegmenter segmenter;
TIMED("Segment")
segmenter.Compute(image);
const int num_segments = segmenter.num_segments;
DLOG << "Generated " << num_segments << " segments";
segmenter.OutputSegViz("out/segmentation.png");
// Compute features for each segment
HistSegmentFeatures<TextonLabeller<NhdPixelFeatures> > segftrs;
segftrs.Compute(image.rgb, image.hsv, segmenter.segmentation, num_segments);
segftrs.OutputLabelViz("out/label_map.png");
// Compute similarity matrix
MatF similarity(num_segments, num_segments);
for (int i = 0; i < num_segments; i++) {
similarity[i][i] = 0;
for (int j = i+1; j < num_segments; j++) {
const double ssd = VectorSSD(segftrs.features[i], segftrs.features[j]);
similarity[i][j] = min(1.0/sqrt(ssd), 10);
similarity[j][i] = similarity[i][j];
}
}
similarity /= similarity.MaxValue();
WriteMatrixImageRescaled("out/similarity.png", similarity);
// Generate some vizualizations
const int kNumViz = 15;
ImageRGB<byte> viz(w, h);
vector<PixelRGB<byte> > colors(num_segments);
vector<int> segment_indices;
sorted_order(segmenter.segment_sizes, segment_indices, greater<int>());
for (int i = 0; i < kNumViz; i++) {
// Pick a random pixel and use the segment at that pixel so that
// larger segments are more likely to be chosen
const int root = segment_indices[i];
DREPORT(root);
// Compute colors for each other segment
for (int j = 0; j < num_segments; j++) {
if (j == root) {
colors[j].Set(255, 0, 0);
} else {
const int v = similarity[j][root] * 255;
colors[j].Set(v, v, v);
}
}
// Generate the vizualization
for (int r = 0; r < h; r++) {
PixelRGB<byte>* vizrow = viz[r];
const int* segrow = segmenter.segmentation[r];
for (int c = 0; c < w; c++) {
vizrow[c] = colors[segrow[c]];
}
}
WriteImage("out/sim"+PaddedInt(i,2)+".png", viz);
}
return 0;
}
void step(char *body){
char in[100];
int takeinput=1;
int lastcommand=0;
while(takeinput){
scanf("%s",in);
//printf("in %s\n",in);
//printf("body %s\n",body);
if(!strcmp(in,"step")||!strcmp(in,"s")){
//take next step in program
lastcommand=1;
char nextstep[strlen(body)];
int i;
for(i=0;body[i]!=','&&body[i]!=0;i++){
nextstep[i]=body[i];
}
nextstep[i]=0;
if(!strncmp(nextstep,"//struct",8)){
//printf("body %s %d\n",body+i,strncmp(body+i,"//ends",6));
nextstep[i]=body[i];
while(strncmp(body+i,"//ends",6)){
//printf("loop\n");
nextstep[i]=body[i];
i++;
}
nextstep[i]=0;
body+=6;
}
if(!strncmp(nextstep,"//while",7)){
char * condition = nextstep+7;
char num[strlen(nextstep)];
int k=0;
//printf("condition number %s\n",condition);
while(*condition!=' '&&*condition){
num[k]=*condition;
condition++;
k++;
}
num[k]=0;
condition++;
char cond[strlen(nextstep)];
k=0;
while(*condition!=','&&*condition){
cond[k]=*condition;
condition++;
k++;
}
cond[k]=0;
//printf("while condition %s\n",cond);
executeStatement* e = new executeStatement(cond);
void * ret=e->execute();
//printf("ret %d\n",*(int *)ret);
char loopbody[strlen(body)];
loopbody[0]=0;
//strcat(loopbody,nextstep);
//loopbody[strlen(loopbody)]=',';
//loopbody[strlen(loopbody)+1]=0;
k=i+1;
int wbool=1;
while(wbool){
for(i=0;body[k]!=','&&body[k]!=0;k++,i++){
nextstep[i]=body[k];
//printf("i = %d body=%c\n",i,body[k]);
}
nextstep[i]=body[k];
k++;
i++;
nextstep[i]=0;
//printf("nextstep %s num %s\n",nextstep,num);
if(!strncmp(nextstep,"//endw",6)){
//printf("got 1\n");
if(!strncmp(nextstep+6,num,strlen(num))){
wbool=0;
//printf("got 2\n");
continue;
}
}
strcat(loopbody,nextstep);
}
loopbody[strlen(loopbody)-1]=0;
//printf("loopbody %s\n",loopbody);
if(*(int *)ret!=0){
step(loopbody);
}
else{
//printf("nextstep1251521 %s\nbody %s\nloopbody %s\n",nextstep,body,loopbody);
//printf("nextstep %d body %d loopbody %d i %d\n",strlen(nextstep),strlen(body),strlen(loopbody),i);
body+=i+strlen(loopbody)+strlen(nextstep)+strlen(cond)+3;
if(*body==0)
takeinput=0;
//printf("body %s\n",body);
}
//printf("body123 %s\n",body);
}
else if(!strncmp(nextstep,"//if",4)){
char * condition = nextstep+4;
char num[strlen(nextstep)];
int k=0;
//printf("condition number %s\n",condition);
while(*condition!=' '&&*condition){
num[k]=*condition;
condition++;
k++;
}
num[k]=0;
condition++;
char cond[strlen(nextstep)];
k=0;
while(*condition!=','&&*condition){
cond[k]=*condition;
condition++;
k++;
}
cond[k]=0;
//printf("if condition %s\n",cond);
executeStatement* e = new executeStatement(cond);
void * ret=e->execute();
//printf("ret %d\n",*(int *)ret);
if(*(int *)ret!=0){
char ifbody[strlen(body)];
ifbody[0]=0;
k=i+1;
int wbool=1;
int haselse=0;
while(wbool){
for(i=0;body[k]!=','&&body[k]!=0;k++,i++){
nextstep[i]=body[k];
//printf("i = %d body=%c\n",i,body[k]);
}
nextstep[i]=body[k];
k++;
i++;
nextstep[i]=0;
//printf("nextstep %s num %s\n",nextstep,num);
if(!strncmp(nextstep,"//endf",6)||!strncmp(nextstep,"//else",6)){
//printf("got 1\n");
if(!strncmp(nextstep+6,num,strlen(num))){
if(!strncmp(nextstep,"//else",6)){
haselse=1;
}
wbool=0;
//printf("got 2\n");
continue;
}
}
strcat(ifbody,nextstep);
}
ifbody[strlen(ifbody)-1]=0;
//printf("ifbody %s\n",ifbody);
step(ifbody);
//printf("body prejump %s\n",body);
body+=strlen(ifbody)+strlen(cond)+7+strlen(num)*2+6;
if(*body==',')
body++;
//printf("body ifsasdf %s\n %s\n%s\n",body,ifbody,cond);
if(haselse){
ifbody[0]=0;
k=0;
wbool=1;
//printf("body elsesasdf %s\n",body);
while(wbool){
for(i=0;body[k]!=','&&body[k]!=0;k++,i++){
nextstep[i]=body[k];
//printf("i = %d body=%c\n",i,body[k]);
}
nextstep[i]=body[k];
k++;
i++;
nextstep[i]=0;
//printf("nextstep %s num %s\n",nextstep,num);
if(!strncmp(nextstep,"//ende",6)){
//printf("got 1\n");
if(!strncmp(nextstep+6,num,strlen(num))){
wbool=0;
//printf("got 2\n");
continue;
}
}
strcat(ifbody,nextstep);
}
ifbody[strlen(ifbody)-1]=0;
//printf("bodypree jump elso %s\n",body);
body+=strlen(ifbody)+7+strlen(num);
if(*body==',')
body++;
//printf("body else1345 %s\n",body);
}
//body+=strlen(nextstep);
if(*body==0)
takeinput=0;
}
else{
char ifbody[strlen(body)];
ifbody[0]=0;
k=i+1;
int wbool=1;
int haselse=0;
while(wbool){
for(i=0;body[k]!=','&&body[k]!=0;k++,i++){
nextstep[i]=body[k];
//printf("i = %d body=%c\n",i,body[k]);
}
nextstep[i]=body[k];
k++;
i++;
nextstep[i]=0;
//printf("nextstep %s num %s\n",nextstep,num);
if(!strncmp(nextstep,"//endf",6)||!strncmp(nextstep,"//else",6)){
//printf("got 1\n");
if(!strncmp(nextstep+6,num,strlen(num))){
if(!strncmp(nextstep,"//else",6)){
haselse=1;
}
wbool=0;
//printf("got 2\n");
continue;
}
}
strcat(ifbody,nextstep);
}
ifbody[strlen(ifbody)-1]=0;
//printf("abody %s\n",body);
body+=strlen(ifbody)+strlen(cond)+7+strlen(num)*2+6;
//printf("body ifsasdf2365 %c\n",*body);
if(*body==',')
body++;
//printf("body ifsasdf %s\n",body);
if(haselse){
ifbody[0]=0;
k=0;
wbool=1;
//printf("body elsesasdf %s\n",body);
while(wbool){
for(i=0;body[k]!=','&&body[k]!=0;k++,i++){
nextstep[i]=body[k];
//printf("i = %d body=%c\n",i,body[k]);
}
nextstep[i]=body[k];
k++;
i++;
nextstep[i]=0;
//printf("nextstep %s num %s\n",nextstep,num);
if(!strncmp(nextstep,"//ende",6)){
//printf("got 1\n");
if(!strncmp(nextstep+6,num,strlen(num))){
wbool=0;
//printf("got 2\n");
continue;
}
}
strcat(ifbody,nextstep);
}
ifbody[strlen(ifbody)-1]=0;
//printf("elsebody %s\n",ifbody);
step(ifbody);
//printf("bodypree jump elso %s\n",body);
body+=strlen(ifbody)+7+strlen(num);
if(*body==',')
body++;
//printf("body else1345 %s\n",body);
}
if(*body==0)
takeinput=0;
}
}
else{
//printf("adding body\n");
if(body[i]!=0)
body+=i+1;
else//were done
takeinput=0;
executeStatement* e = new executeStatement(nextstep);
e->execute();
}
for(i=0;body[i]!=','&&body[i]!=0;i++){
nextstep[i]=body[i];
}
nextstep[i]=0;
printf("nextstep %s %d\n",nextstep,i);
}
else if(!strcmp(in,"continue")||!strcmp(in,"c")){
//continue the program
lastcommand=2;
}
else if(!strcmp(in,"quit")||!strcmp(in,"q")){
//quit the program
takeinput=0;
}
//insert more commands here possibly break, print, set, etc
else if(!strcmp(in,"print")||!strcmp(in,"p")){
frame * curframe=cstack::thiscstack.getframe(cstack::thiscstack.stacksize-1);
scanf("%s",in);
int ret=cstack::thiscstack.find(curframe,in);
if(ret>=0){
stack *s = curframe->sstack[ret];
viz(s);
}
else
printf("variable does not exist %s\n",in);
}
}
return;
}
