int main()
{
Point *a, *b;
int x, y, z;
printf("Digite tres inteiros do primeiro ponto\n");
scanf("%d %d %d", &x, &y, &z);
a = initPoint(x, y, z);
printf("Mais tres inteiros\n");
scanf("%d %d %d", &x, &y, &z);
b = initPoint(x, y, z);
printf("Distancia dos dois pontos: %f", calcDistance(a, b));
free(a);
free(b);
return 0;
}
/**
* Test the modification function
*/
static void test_modifPoint() {
Point * p;
p = initPoint();
modifyPoint(p, 5., 4.);
ASSERT_EQUAL_FLOAT(p->x, 5);
ASSERT_EQUAL_FLOAT(p->y, 4);
destroyPoint(p);
}
void HW1b::setToTwist(int state){
m_checkBoxTwist->setChecked(state);
m_point.clear();
initPoint();
updateGL();
}
void
HW1b::initializeGL()
{
glClearColor(0.0, 0.0, 0.0, 0.0); // set background color
glColor3f(1.0, 1.0, 1.0); // set foreground color
initPoint();
}
void initCircle (void) {
initPoint();
if (! Circle)
Circle = new(PointClass,
"Circle", Point, sizeof(struct Circle),
ctor, Circle_ctor,
draw, Circle_draw,
(void *) 0);
}
/************
* *
*Init *
* *
************/
PointLight3D* initPointLight()
{
PointLight3D* light;
light = malloc(sizeof(PointLight3D));
if(NULL == light)
{
log_error(LIGHTPOINT_INIT_ERROR);
return NULL;
}
light->position = initPoint();
return light;
}
void HW1b::changeDividing(int value){
m_subdivide = value;
m_sliderDividing->blockSignals(true);
m_sliderDividing->setValue(value);
m_sliderDividing->blockSignals(false);
m_spinBoxDividing->blockSignals(true);
m_spinBoxDividing->setValue(value);
m_spinBoxDividing->blockSignals(false);
m_point.clear();
m_color.clear();
initPoint();
updateGL();
}
void HW1b::changeTheta(int angle){
m_sliderTheta->blockSignals(true);
m_sliderTheta->setValue(angle);
m_sliderTheta->blockSignals(false);
m_spinBoxTheta->blockSignals(true);
m_spinBoxTheta->setValue(angle);
m_spinBoxTheta->blockSignals(false);
m_theta = angle * (M_PI / 180);
m_point.clear();
initPoint();
updateGL();
}
/**
* Test the initialisation function
*/
static void test_initPoint() {
Point * p = initPoint();
ASSERT_EQUAL_FLOAT(p->x, 0);
ASSERT_EQUAL_FLOAT(p->y, 0);
destroyPoint(p);
}
void initPoints(point* s)
{
const int LONGUEUR = 350;
const int LARGEUR = 200;
int i = 0;
s[0] = initPoint(0,0);
s[3] = initPoint(3*(LONGUEUR/2), 0);
s[4] = initPoint(3*(LONGUEUR/2), 1.33*LARGEUR/3.33);
s[7] = initPoint(0, 1.33*LARGEUR/3.33);
s[24] = initPoint(-21*(LONGUEUR/4), -7*(LARGEUR/3.33));
s[27] = initPoint(s[24].coords[0] + 12*LONGUEUR, s[24].coords[1]);
s[31] = initPoint(s[24].coords[0], (1.33*(LARGEUR/3.33))+7*(LARGEUR/3.33));
s[28] = initPoint(s[27].coords[0], s[31].coords[1]);
while(i <= 24)
{
s[1+i].coords[0] = (2*s[i].coords[0]+s[i+3].coords[0])/3;
s[1+i].coords[1] = (2*s[i].coords[1]+s[i+3].coords[1])/3;
s[6+i].coords[0] = (2*s[i+7].coords[0]+s[i+4].coords[0])/3;
s[6+i].coords[1] = (2*s[i+7].coords[1]+s[i+4].coords[1])/3;
s[2+i].coords[0] = (s[i].coords[0]+2*s[i+3].coords[0])/3;
s[2+i].coords[1] = (s[i].coords[1]+2*s[i+3].coords[1])/3;
s[5+i].coords[0] = (s[i+7].coords[0]+2*s[i+4].coords[0])/3;
s[5+i].coords[1] = (s[i+7].coords[1]+2*s[i+4].coords[1])/3;
i += 24;
}
droiteaffine alpha = initDroiteAffine(s[24].coords[1]/s[24].coords[0], &s[0]);
droiteaffine gama = initDroiteAffine(-s[24].coords[1]/s[24].coords[0], &s[7]);
droiteaffine beta = initDroiteAffine(-s[24].coords[1]/s[24].coords[0], &s[3]);
droiteaffine delta = initDroiteAffine(s[24].coords[1]/s[24].coords[0], &s[4]);
s[16].coords[0] = 3*(LONGUEUR/4)-3*LONGUEUR;
s[16].coords[1] = getCoordY(alpha, s[16].coords[0]);
s[23].coords[0] = s[16].coords[0];
s[23].coords[1] = getCoordY(gama, s[16].coords[0]);
s[8].coords[0] = -3*(LARGEUR/4);
s[8].coords[1] = getCoordY(alpha, s[8].coords[0]);
s[15].coords[0] = s[8].coords[0];
s[15].coords[1] = getCoordY(gama, s[8].coords[0]);
s[19].coords[0] = s[16].coords[0] + 6*LONGUEUR;
s[19].coords[1] = s[16].coords[1];
s[20].coords[0] = s[23].coords[0] + 6*LONGUEUR;
s[20].coords[1] = s[23].coords[1];
s[11].coords[0] = s[8].coords[0] + 3*LONGUEUR;
s[11].coords[1] = s[8].coords[1];
s[12].coords[0] = s[15].coords[0] + 3*LONGUEUR;
s[12].coords[1] = s[15].coords[1];
droiteaffine epsilon = initDroiteAffine(-s[25].coords[1]/(s[1].coords[0]-s[25].coords[0]), &s[1]);
s[9].coords[0] = s[8].coords[0] + LONGUEUR;
s[9].coords[1] = getCoordY(epsilon, s[9].coords[0]);
s[17].coords[0] = s[16].coords[0] + 2*LONGUEUR;
s[17].coords[1] = getCoordY(epsilon, s[17].coords[0]);
droiteaffine teta = initDroiteAffine(s[25].coords[1]/(s[1].coords[0]-s[25].coords[0]), &s[6]);
s[14].coords[0] = s[15].coords[0] + LONGUEUR;
s[14].coords[1] = getCoordY(teta, s[14].coords[0]);
s[22].coords[0] = s[23].coords[0] + 2*LONGUEUR;
s[22].coords[1] = getCoordY(teta, s[22].coords[0]);
droiteaffine omega = initDroiteAffine(s[25].coords[1]/(s[1].coords[0]-s[25].coords[0]), &s[2]);
s[10].coords[0] = s[8].coords[0] + 2*LONGUEUR;
s[10].coords[1] = getCoordY(omega, s[10].coords[0]);
s[18].coords[0] = s[16].coords[0] + 4*LONGUEUR;
s[18].coords[1] = getCoordY(omega, s[18].coords[0]);
droiteaffine sigma = initDroiteAffine(-s[25].coords[1]/(s[1].coords[0]-s[25].coords[0]), &s[5]);
s[13].coords[0] = s[15].coords[0] + 2*LONGUEUR;
s[13].coords[1] = getCoordY(sigma, s[13].coords[0]);
s[21].coords[0] = s[23].coords[0] + 4*LONGUEUR;
s[21].coords[1] = getCoordY(sigma, s[21].coords[0]);
}
void Reconstruction::update (vector<Matcher::p_match> p_matched,Matrix Tr,int32_t point_type,int32_t min_track_length,double max_dist,double min_angle) {
// update transformation vector
Matrix Tr_total_curr;
if (Tr_total.size()==0) Tr_total_curr = Matrix::inv(Tr);
else Tr_total_curr = Tr_total.back()*Matrix::inv(Tr);
Tr_total.push_back(Tr_total_curr);
Tr_inv_total.push_back(Matrix::inv(Tr_total_curr));
// update projection vector
Matrix P_total_curr = K*Matrix::inv(Tr_total_curr).getMat(0,0,2,3);
P_total.push_back(P_total_curr);
// current frame
int32_t current_frame = Tr_total.size() - 1; // 0-based frame number
// create index vector
int32_t track_idx_max = 0;
for (vector<Matcher::p_match>::iterator m=p_matched.begin(); m!=p_matched.end(); m++)
if (m->i1p > track_idx_max)
track_idx_max = m->i1p;
for (vector<track>::iterator t=tracks.begin(); t!=tracks.end(); t++)
if (t->last_idx > track_idx_max)
track_idx_max = t->last_idx;
int32_t *track_idx = new int32_t[track_idx_max+1];
for (int32_t i=0; i<=track_idx_max; i++)
track_idx[i] = -1;
for (int32_t i=0; i<tracks.size(); i++)
track_idx[tracks[i].last_idx] = i;
// associate matches to tracks
for (vector<Matcher::p_match>::iterator m=p_matched.begin(); m!=p_matched.end(); m++) {
// track index (-1 = no existing track)
int32_t idx = track_idx[m->i1p];
// add to existing track
if (idx>=0 && tracks[idx].last_frame==current_frame-1) {
tracks[idx].pixels.push_back(point2d(m->u1c,m->v1c));
tracks[idx].last_frame = current_frame;
tracks[idx].last_idx = m->i1c;
// create new track
} else {
track t;
t.pixels.push_back(point2d(m->u1p,m->v1p));
t.pixels.push_back(point2d(m->u1c,m->v1c));
t.first_frame = current_frame-1;
t.last_frame = current_frame;
t.last_idx = m->i1c;
tracks.push_back(t);
}
}
// copy tracks
vector<track> tracks_copy = tracks;
tracks.clear();
// devise tracks into active or reconstruct 3d points
for (vector<track>::iterator t=tracks_copy.begin(); t!=tracks_copy.end(); t++) {
// track has been extended
if (t->last_frame==current_frame) {
// push back to active tracks
tracks.push_back(*t);
// track lost
} else {
// add to 3d reconstruction
if (t->pixels.size()>=min_track_length) {
// 3d point
point3d p;
// try to init point from first and last track frame
if (initPoint(*t,p)) {
if (pointType(*t,p)>=point_type)
if (refinePoint(*t,p))
if(pointDistance(*t,p)<max_dist && rayAngle(*t,p)>min_angle)
points.push_back(p);
}
}
}
}
//cout << "P: " << points.size() << endl;
//testJacobian();
delete track_idx;
}
int main(int argc, char *argv[])
{
int winid;
struct Msg msg;
struct Context context;
//int shell_pid;
//int finder_pid;
short isRun = 1;
// short isInit = 1;
ClickableManager manager;
winid = init_context(&context, 800, 600);
fill_rect(context, 0, 0, context.width, context.height, 0xffff);
// puts_str(context, "desktop: welcome", 0x0, 0, 0);
PICNODE pic1, pic2, pic3/*, background*/;
loadBitmap(&pic1, "music.bmp");
loadBitmap(&pic2, "setting.bmp");
loadBitmap(&pic3, "notes.bmp");
//loadBitmap(&background, "bg.bmp");
set_icon_alpha(&pic1);
set_icon_alpha(&pic2);
set_icon_alpha(&pic3);
// set_icon_alpha(&pic4);
//
fill_rect(context, 160, 400, 500, 150, 0x0101);
// //loadBitmap(&background, "bg.bmp");
//draw_picture(context, background, 0, 0);
draw_picture(context, pic1, 225, 450);
draw_picture(context, pic2, 367, 450);
draw_picture(context, pic3, 500, 450);
//draw_iconlist(context, iconlist, sizeof(iconlist) / sizeof(ICON));
manager = initClickManager(context);
createClickable(&manager, initRect(225, 450, 75, 75), MSG_DOUBLECLICK, playmusic);
createClickable(&manager, initRect(367, 450, 75, 75), MSG_DOUBLECLICK, shellinit);
createClickable(&manager, initRect(500, 450, 75, 75), MSG_DOUBLECLICK, finderinit);
while(isRun)
{
getMsg(&msg);
switch(msg.msg_type)
{
case MSG_UPDATE:
updateWindow(winid, context.addr);
//printf(0, "desktop");
/*if (isInit)
{
finderinit((Point){0, 0});
//finderinit((Point){0, 0});
//shell_pid = shellinit((Point){context.width / 2, context.height / 2});
//shellinit((Point){context.width / 2, context.height / 2});
isInit = 0;
}*/
break;
case MSG_PARTIAL_UPDATE:
updatePartialWindow(winid, context.addr, msg.concrete_msg.msg_partial_update.x1, msg.concrete_msg.msg_partial_update.y1, msg.concrete_msg.msg_partial_update.x2, msg.concrete_msg.msg_partial_update.y2);
break;
case MSG_DOUBLECLICK:
executeHandler(manager.double_click, initPoint(msg.concrete_msg.msg_mouse.x, msg.concrete_msg.msg_mouse.y));
break;
default:
break;
}
}
//int windowId;
//int result;
//windowId = createWindow(0, 0, 800, 600);
//printf(0, "windowId: %d\n", windowId);
//result = updateWindow(windowId, context.addr);
//printf(0, "updateResult: %d\n", result);
free_context(&context, winid);
exit();
}
