void
MFCSimpleTypeView::ContextMenu(UINT nFlags, CPoint point)
{
long caty[] = {
// TypedValue::S_DOUBLE,
// TypedValue::S_LAMBDA,
TypedValue::S_FLOAT,
TypedValue::S_INT,
TypedValue::S_SHORT,
TypedValue::S_BYTE,
TypedValue::S_BOOL
};
CPoint popPt = point;
ClientToScreen(&popPt);
CMenu *ctxtMenu = new CMenu;
ctxtMenu->CreatePopupMenu();
CMenu *addVarMenu = new CMenu;
addVarMenu->CreatePopupMenu();
char buf[512];
long item = ItemAtPoint(point);
for (short i=0; i<sizeof(caty)/sizeof(caty[0]); i++) {
if (ID_VARIABLECONTEXT_ADD_VAR + caty[i] > ID_VARIABLECONTEXT_ADD_VAR_TYPE_RANGE) {
reportError("Internal error. type index value exceeded in menu creator, is %d and shouldn't exceed %d",
caty[i], ID_VARIABLECONTEXT_ADD_VAR_TYPE_RANGE-ID_VARIABLECONTEXT_ADD_VAR);
} else {
string tnm = findTypeName(caty[i]);
if (tnm.size()) {
sprintf(buf, "%s", tnm.c_str());
addVarMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_ADD_VAR + caty[i], buf);
}
}
}
ctxtMenu->AppendMenu(MF_POPUP, (UINT) addVarMenu->m_hMenu, "add variable");
ctxtMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_ADD_METHOD, "add method");
StabEnt *itemSym = NULL;
if (item >= 0) {
// delete selected item
// set selected item envelope
// set selected item display type
// set selected item length ... to create an array
itemSym = SymForItem(item);
if (itemSym != NULL) {
CMenu *setVarTypeMenu = new CMenu;
setVarTypeMenu->CreatePopupMenu();
for (short i=0; i<sizeof(caty)/sizeof(caty[0]); i++) {
if (ID_VARIABLECONTEXT_SET_VAR_TYPE + caty[i] > ID_VARIABLECONTEXT_SET_VAR_TYPE_RANGE) {
reportError("Internal error. type index value exceeded in menu creator, is %d and shouldn't exceed %d",
caty[i], ID_VARIABLECONTEXT_SET_VAR_TYPE_RANGE-ID_VARIABLECONTEXT_SET_VAR_TYPE);
} else {
string tnm = findTypeName(caty[i]);
if (tnm.size() && itemSym->type != caty[i]) {
sprintf(buf, "%s", tnm.c_str());
setVarTypeMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_SET_VAR_TYPE + caty[i], buf);
}
}
}
sprintf(buf, "set '%s' type", itemSym->uniqueName());
ctxtMenu->AppendMenu(MF_POPUP, (UINT) setVarTypeMenu->m_hMenu, buf);
sprintf(buf, "delete '%s'", itemSym->uniqueName());
ctxtMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_DELETE_SELECTED, buf);
sprintf(buf, "set '%s' envelope", itemSym->uniqueName());
ctxtMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_ENVELOPE_SELECTED, buf);
CMenu *dispVarMenu = new CMenu;
dispVarMenu->CreatePopupMenu();
dispVarMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_NODISPLAY_SELECTED, "none");
dispVarMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_CONTROL_SELECTED, "control");
dispVarMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_DISPLAY_SELECTED, "display");
sprintf(buf, "set '%s' display", itemSym->uniqueName());
ctxtMenu->AppendMenu(MF_POPUP, (UINT) dispVarMenu->m_hMenu, buf);
ctxtMenu->AppendMenu(MF_STRING, ID_VARIABLECONTEXT_SET_LENGTH_SELECTED, "set length");
}
}
// add item
// by type
// structures ????
short ret = ctxtMenu->TrackPopupMenuEx(
TPM_LEFTALIGN|TPM_LEFTBUTTON|TPM_RETURNCMD,
popPt.x, popPt.y, this, NULL);
if (ret >= ID_VARIABLECONTEXT_ADD_VAR && ret <= ID_VARIABLECONTEXT_ADD_VAR_TYPE_RANGE) {
long typ = ret - ID_VARIABLECONTEXT_ADD_VAR;
if (parent && parent->Symbol()) {
StabEnt *pSym = parent->Symbol();
Stackable *stkbl = pSym->StackableValue();
if (stkbl) {
char *vnm = "variable%d";
switch(typ) {
case TypedValue::S_BYTE: vnm = "bytevar"; break;
case TypedValue::S_SHORT: vnm = "wordvar"; break;
case TypedValue::S_INT: vnm = "intvar"; break;
case TypedValue::S_LONG: vnm = "longvar"; break;
case TypedValue::S_FLOAT: vnm = "floatvar"; break;
}
string nmbuf = glob.makeUniqueName(pSym, vnm, 1);
StabEnt *nsym=DefineSymbol(nmbuf, typ, 0, 0, pSym, TypedValue::REF_STACK, false, false, StabEnt::DISPLAY_NOT);
stkbl->ReAllocateChildren();
AddSym(nsym);
}
}
} else if (ret == ID_VARIABLECONTEXT_ADD_METHOD) {
if (parent && parent->Symbol()) {
StabEnt *pSym = parent->Symbol();
string nmbuf = glob.makeUniqueName(pSym, "action", 1);
QuaPerceptualSet *quaLink=parent->QuaLink();
if (quaLink) {
StabEnt *mSym = quaLink->CreateMethod(nmbuf, pSym);
if (mSym) {
AddSym(mSym);
fprintf(stderr, "tried to add method element\n");
}
}
}
} else if (ret >= ID_VARIABLECONTEXT_SET_VAR_TYPE && ret <= ID_VARIABLECONTEXT_SET_VAR_TYPE_RANGE) {
long typ = ret - ID_VARIABLECONTEXT_SET_VAR_TYPE;
if (itemSym && parent && parent->Symbol()) {
StabEnt *pSym = parent->Symbol();
Stackable *stkbl = pSym->StackableValue();
if (stkbl) {
bool validChange = false;
switch(typ) {
case TypedValue::S_BYTE: validChange = true; break;
case TypedValue::S_SHORT: validChange = true; break;
case TypedValue::S_INT: validChange = true; break;
case TypedValue::S_LONG: validChange = true; break;
case TypedValue::S_FLOAT: validChange = true; break;
}
if (validChange) {
itemSym->type = typ;
stkbl->ReAllocateChildren();
}
}
}
} else if (ret == ID_VARIABLECONTEXT_DELETE_SELECTED) {
if (itemSym) {
glob.DeleteSymbol(itemSym, true);
RemoveSym(itemSym);
if (parent && parent->Symbol()) {
StabEnt *pSym = parent->Symbol();
Stackable *stkbl = pSym->StackableValue();
if (stkbl) {
stkbl->ReAllocateChildren();
}
}
}
} else if (ret == ID_VARIABLECONTEXT_ENVELOPE_SELECTED) {
if (itemSym) {
itemSym->SetEnvelopeMode(true);
}
} else if (ret == ID_VARIABLECONTEXT_NODISPLAY_SELECTED) {
if (itemSym) {
itemSym->SetDisplayMode(StabEnt::DISPLAY_NOT);
// forces redisplay of this entry to show icon change
GetListCtrl().SetItemText(item, 3, "N");
}
} else if (ret == ID_VARIABLECONTEXT_DISPLAY_SELECTED) {
if (itemSym) {
itemSym->SetDisplayMode(StabEnt::DISPLAY_DISP);
// forces redisplay of this entry
GetListCtrl().SetItemText(item, 3, "D");
}
} else if (ret == ID_VARIABLECONTEXT_CONTROL_SELECTED) {
if (itemSym) {
itemSym->SetDisplayMode(StabEnt::DISPLAY_CTL);
// forces redisplay of this entry
GetListCtrl().SetItemText(item, 3, "C");
}
} else if (ret == ID_VARIABLECONTEXT_SET_LENGTH_SELECTED) {
reportError("Currently only undimensioned data are supported by this interface .... but they can be added manually by hand-editting the script");
}
}
void geonDetector::detect(pcl::SacModel geonType)
{
seg.setOptimizeCoefficients (true);
seg.setNormalDistanceWeight (0.3);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (100);
seg.setDistanceThreshold (0.05);
seg.setInputCloud (cloud_filtered);
seg.setInputNormals (cloud_normals);
seg.setModelType (geonType);
//Type specific parameters
if(geonType == pcl::SACMODEL_PLANE)
{
seg.setNormalDistanceWeight (0.5);
seg.setDistanceThreshold (0.08);
}
if(geonType == pcl::SACMODEL_CYLINDER)
{
seg.setNormalDistanceWeight (0.1);
seg.setDistanceThreshold (0.05);
}
//perform the segmentation, aka detection
seg.segment (*geonIndices, *coefficients);
std::cerr << geonType << "coefficients: " << *coefficients << std::endl;
//if no geon is found, return directly.
if(geonIndices->indices.size()==0)
{
return;
}
//increase total number of found geons.
this->totalCount++;
// Remove the inlier, extract the rest
extract.setInputCloud(cloud_filtered);
extract.setIndices(geonIndices);
extract.setNegative (true);
extract.filter (*cloud_filtered2);
extract_normals.setInputCloud(cloud_normals);
extract_normals.setIndices(geonIndices);
extract_normals.setNegative (true);
extract_normals.filter (*cloud_normals2);
// Write the inliers to disk
pcl::PointCloud<PointT>::Ptr cloud_geon(new pcl::PointCloud<PointT> ());
extract.setNegative(false);
extract.filter (*cloud_geon);
std::cerr << "PointCloud representing the planar component: " << cloud_geon->points.size () << " data points." << std::endl;
std::stringstream geonPath;
geonPath << findTypeName(geonType) << "_" << totalCount << ".pcd";
writer.write (geonPath.str().c_str(), *cloud_geon, false);
// writer.write ("geon.pcd", *cloud_geon, false);
//copy cloud_filtered2 to cloud_filtered
//pcl::copyPointCloud(*cloud_filtered2,*cloud_filtered);
//pcl::copyPointCloud(*cloud_normals2,*cloud_normals);
}
void
MFCSimpleTypeView::DrawItem(LPDRAWITEMSTRUCT lpDrawItemStruct)
{
int m_bClientWidthSel = TRUE;
int m_cxClient = 0;
int m_cxStateImageOffset = 0;
COLORREF m_clrText = ::GetSysColor(COLOR_WINDOWTEXT);
COLORREF m_clrTextBk = ::GetSysColor(COLOR_WINDOW);
COLORREF m_clrBkgnd = ::GetSysColor(COLOR_WINDOW);
CListCtrl& listCtrl=GetListCtrl();
CDC* pDC = CDC::FromHandle(lpDrawItemStruct->hDC);
CRect rcItem(lpDrawItemStruct->rcItem);
UINT uiFlags = ILD_TRANSPARENT;
CImageList* pImageList;
int nItem = lpDrawItemStruct->itemID;
BOOL bFocus = (GetFocus() == this);
COLORREF clrTextSave, clrBkSave;
COLORREF clrImage = m_clrBkgnd;
static _TCHAR szBuff[MAX_PATH];
LPCTSTR pszText;
StabEnt *itemSym = SymForItem(nItem);
// get item data
LV_ITEM lvi;
lvi.mask = LVIF_TEXT | LVIF_IMAGE | LVIF_STATE;
lvi.iItem = nItem;
lvi.iSubItem = 0;
lvi.pszText = szBuff;
lvi.cchTextMax = sizeof(szBuff);
lvi.stateMask = 0xFFFF; // get all state flags
listCtrl.GetItem(&lvi);
BOOL bSelected = (bFocus || (GetStyle() & LVS_SHOWSELALWAYS)) && lvi.state & LVIS_SELECTED;
bSelected = bSelected || (lvi.state & LVIS_DROPHILITED);
// set colors if item is selected
CRect rcAllLabels;
listCtrl.GetItemRect(nItem, rcAllLabels, LVIR_BOUNDS);
CRect rcLabel;
listCtrl.GetItemRect(nItem, rcLabel, LVIR_BOUNDS);
// listCtrl.GetItemRect(nItem, rcLabel, LVIR_LABEL);
rcAllLabels.left = rcLabel.left;
if (m_bClientWidthSel && rcAllLabels.right<m_cxClient)
rcAllLabels.right = m_cxClient;
if (bSelected) {
clrTextSave = pDC->SetTextColor(::GetSysColor(COLOR_HIGHLIGHTTEXT));
clrBkSave = pDC->SetBkColor(::GetSysColor(COLOR_HIGHLIGHT));
pDC->FillRect(rcAllLabels, &CBrush(::GetSysColor(COLOR_HIGHLIGHT)));
}
else
pDC->FillRect(rcAllLabels, &CBrush(m_clrTextBk));
// set color and mask for the icon
if (lvi.state & LVIS_CUT) {
clrImage = m_clrBkgnd;
uiFlags |= ILD_BLEND50;
} else if (bSelected) {
clrImage = ::GetSysColor(COLOR_HIGHLIGHT);
uiFlags |= ILD_BLEND50;
}
// draw state icon
UINT nStateImageMask = lvi.state & LVIS_STATEIMAGEMASK;
if (nStateImageMask) {
int nImage = (nStateImageMask>>12) - 1;
pImageList = listCtrl.GetImageList(LVSIL_STATE);
if (pImageList) {
pImageList->Draw(pDC, nImage,
CPoint(rcItem.left, rcItem.top), ILD_TRANSPARENT);
}
}
// draw normal and overlay icon
/*
CRect rcIcon;
ListCtrl.GetItemRect(nItem, rcIcon, LVIR_ICON);
pImageList = listCtrl.GetImageList(LVSIL_SMALL);
if (pImageList) {
UINT nOvlImageMask=lvi.state & LVIS_OVERLAYMASK;
if (rcItem.left<rcItem.right-1) {
ImageList_DrawEx(pImageList->m_hImageList, lvi.iImage,
pDC->m_hDC,rcIcon.left,rcIcon.top, 16, 16,
m_clrBkgnd, clrImage, uiFlags | nOvlImageMask);
}
}
*/
// draw item label
// listCtrl.GetItemRect(nItem, rcItem, LVIR_LABEL);
LV_COLUMN lvc;
lvc.mask = LVCF_FMT | LVCF_WIDTH;
listCtrl.GetItemRect(nItem, rcItem, LVIR_BOUNDS);
listCtrl.GetColumn(0, &lvc);
rcItem.right = lvc.cx;
// pszText = MakeShortString(pDC, szBuff,
// rcItem.right-rcItem.left, 2*OFFSET_FIRST);
pszText = szBuff;
rcLabel = rcItem;
rcLabel.left += OFFSET_FIRST;
rcLabel.right -= OFFSET_FIRST;
pDC->SetTextColor(rgb_black);
pDC->DrawText(pszText,-1,rcLabel,DT_LEFT | DT_SINGLELINE | DT_NOPREFIX | DT_NOCLIP | DT_VCENTER);
// draw labels for extra columns
if (itemSym) {
UINT nOvlImageMask=lvi.state & LVIS_OVERLAYMASK;
// type
listCtrl.GetColumn(1, &lvc);
rcItem.left = rcItem.right;
rcItem.right += lvc.cx;
rcLabel = rcItem;
rcLabel.left += OFFSET_OTHER;
rcLabel.right -= OFFSET_OTHER;
string tnm = findTypeName(itemSym->type);
if (tnm.size()) {
pDC->SetTextColor(rgb_blue);
long h = pDC->DrawText(tnm.c_str() , -1, rcLabel, DT_SINGLELINE | DT_NOPREFIX | DT_NOCLIP | DT_VCENTER);
}
// length
listCtrl.GetColumn(2, &lvc);
rcItem.left = rcItem.right;
rcItem.right += lvc.cx;
// fprintf(stderr, "%d %d %d\n", pszText, itemSym->type, lvc.cx);
rcLabel = rcItem;
rcLabel.left += OFFSET_OTHER;
rcLabel.right -= OFFSET_OTHER;
if (itemSym->indirection > 0) {
char buf[120];
buf[0] = 0;
for (short i=1; i<itemSym->indirection; i++) {
char nbuf[10];
sprintf(nbuf, "%s%d", i>1?",":"",itemSym->size[i]);
strcat(buf, nbuf);
}
pDC->SetTextColor(rgb_blue);
pDC->DrawText(buf, -1, rcLabel,
DT_SINGLELINE | DT_NOPREFIX | DT_NOCLIP | DT_VCENTER);
}
// controller
listCtrl.GetColumn(3, &lvc);
rcItem.left = rcItem.right;
rcItem.right += lvc.cx;
if (itemSym->controlMode != StabEnt::DISPLAY_NOT) {
ImageList_DrawEx(images,
itemSym->controlMode == StabEnt::DISPLAY_CTL ? 0 :
itemSym->controlMode == StabEnt::DISPLAY_DISP? 2 : 0,
pDC->m_hDC,rcItem.left,rcItem.top, 16, 16,
m_clrBkgnd, clrImage, uiFlags | nOvlImageMask);
}
// envelope
listCtrl.GetColumn(4, &lvc);
rcItem.left = rcItem.right;
rcItem.right += lvc.cx;
if (itemSym->isEnveloped) {
ImageList_DrawEx(images, 1 /* which one */,
pDC->m_hDC,rcItem.left,rcItem.top, 16, 16,
m_clrBkgnd, clrImage, uiFlags | nOvlImageMask);
}
}
/*
for(int nColumn = 1; listCtrl.GetColumn(nColumn, &lvc); nColumn++) {
rcItem.left = rcItem.right;
rcItem.right += lvc.cx;
int nRetLen = listCtrl.GetItemText(nItem, nColumn, szBuff, sizeof(szBuff));
if (nRetLen == 0)
continue;
// pszText = MakeShortString(pDC, szBuff,
// rcItem.right - rcItem.left, 2*OFFSET_OTHER);
pszText = szBuff;
UINT nJustify = DT_LEFT;
if(pszText == szBuff) {
switch(lvc.fmt & LVCFMT_JUSTIFYMASK) {
case LVCFMT_RIGHT:
nJustify = DT_RIGHT;
break;
case LVCFMT_CENTER:
nJustify = DT_CENTER;
break;
default:
break;
}
}
rcLabel = rcItem;
rcLabel.left += OFFSET_OTHER;
rcLabel.right -= OFFSET_OTHER;
pDC->DrawText(pszText, -1, rcLabel,
nJustify | DT_SINGLELINE | DT_NOPREFIX | DT_NOCLIP | DT_VCENTER);
}*/
// draw focus rectangle if item has focus
if (lvi.state & LVIS_FOCUSED && bFocus)
pDC->DrawFocusRect(rcAllLabels);
// set original colors if item was selected
if (bSelected) {
pDC->SetTextColor(clrTextSave);
pDC->SetBkColor(clrBkSave);
}
}
