vector<vector<int> > levelOrderBottom(TreeNode *root) {
int depth = TreeDepth(root);
vector<vector<int> > lot(depth);
if(root == NULL)
return lot;
queue<TreeNode *> nodeQueue;
nodeQueue.push(root);
TreeNode *node;
queue<int> levelQueue;
int level = 0;
levelQueue.push(level);
while(!nodeQueue.empty()){
node = nodeQueue.front();
nodeQueue.pop();
level = levelQueue.front();
levelQueue.pop();
lot[depth - level -1].push_back(node->val);
if(node->left){
nodeQueue.push(node->left);
levelQueue.push(level+1);
}
if(node->right){
nodeQueue.push(node->right);
levelQueue.push(level+1);
}
level++;
}
return lot;
}
void DataFusionAltimeter::calculateHeight(const cv::Mat& depth_image, const sensor_msgs::CameraInfoConstPtr& camInfoMsg, const sensor_msgs::ImuConstPtr& imuMsg)
{
cv::Point2f c(camInfoMsg->K[2], camInfoMsg->K[5]);
cv::Point2f f(camInfoMsg->K[0], camInfoMsg->K[4]);
tf::Quaternion q;
tf::quaternionMsgToTF (imuMsg->orientation, q);
tf::Vector3 lot(0, 0, 1);
tf::Vector3 rotated_lot = tf::quatRotate(q, lot);
ROS_INFO("rotated_lot(%f, %f, %f)", rotated_lot.x(), rotated_lot.y(), rotated_lot.z());
double u = f.x*rotated_lot.x()/rotated_lot.z() + c.x;
double v = f.y*rotated_lot.y()/rotated_lot.z() + c.y;
ROS_INFO("uv(%f, %f)", u, v);
cv::Mat tmp = depth_image.clone();
cv::circle(tmp, cv::Point((int)(u), (int)(v)), 12, cv::Scalar(255), 4);
cv::circle(tmp, cv::Point((int)(u), (int)(v)), 8, cv::Scalar(0), 4);
cv::circle(tmp, cv::Point((int)(u), (int)(v)), 4, cv::Scalar(255), 4);
cv::imshow("lot_image", tmp);
cv::waitKey(10);
//double roll, pitch, yaw;
//tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
//ROS_INFO("%f, %f, %f", roll, pitch, yaw);
//ROS_INFO("rosq(%f, %f, %f, %f)", imuMsg->orientation.x, imuMsg->orientation.y, imuMsg->orientation.z, imuMsg->orientation.w);
}
static void lot(int* ylo,int* yhi,int ivr,int slt,int hor)
{int iv,/* sl, */ tn, tp, yl, yh, l;
int flg;
*ylo = 0;
*yhi = 0;
{edgeinvert *with1 = &diag.vertlist[ivr-1][slt-1];
if ((IN_PRTCL|OUT_PRTCL)&with1->prop) return;
iv = with1->nextvert.vno;
}
tp = howin(iv);
flg = 1;
tn = diag.valence[iv-1];
if (tp == 0 && (tn == 4 || (hor && tn == 3 &&
(OUT_PRTCL&diag.vertlist[iv-1][1].prop) &&
(OUT_PRTCL&diag.vertlist[iv-1][2].prop))))
{
lot(&yl,&yh,iv,tn,1);
*ylo += yl + yh + 1;
--(tn);
}
for (l = tn; l >= 2; l--)
if (!(IN_PRTCL&diag.vertlist[iv-1][l-1].prop))
{
lot(&yl,&yh,iv,l,flg);
if (flg)
{
flg = 0;
*ylo += yl;
*yhi += yh;
}
else
*yhi += yl + yh + 1;
}
} /* The end of Lot's body */
void DealHelp::UpdateDisplay()
{
SDL_FillRect(m_pScreen, NULL, SDL_MapRGB(m_pScreen->format, 153, 153, 255));
nSDL_DrawString(m_pScreen, m_pFont, 15, 20,
"Deal or No Deal is a game.\n\
There are 26 cases each containing\n\
money from a lot ($1,000,000) to\n\
very little ($0.01).\n\
\n\
You want the high value case; however\n\
the banker wants you to take a deal\n\
for the lesser value.\n\
\n\
Your object is to get the highest\n\
amount you can!\n\
\n\
Good luck!\n\
\n\
Also have fun!");
SDL_UpdateRect(m_pScreen, 0, 0, SCREEN_WIDTH, SCREEN_HEIGHT);
}
static void painter(int xc,int yc,int ivr,int slt,int hor)
{int tp, l, xcnt, ycnt, xx, yy, hh,
ylo, yhi, start, ks, kk, pp;
int flag;
/*
char buff[10];
for(l=0;l<deep;l++) buff[l]=' ';
buff[l]=0; deep++;
printf("New vertex vrt=%d slt=%d \n",ivr,slt);
*/
flag = 0;
start = 2;
xcnt = xc;
ycnt = yc;
tp = howin(ivr);
ks = wherein(ivr);
kk = ks == diag.valence[ivr-1] ?
diag.valence[ivr-1] - 1 :
diag.valence[ivr-1] ;
lot(&ylo,&yhi,ivr,kk,hor);
//printf("%s vert=%d kk=%d hor=%d ylo=%d yhi=%d\n",buff,ivr,kk,hor,ylo,yhi);
pp = ks == kk - 1 ? kk - 2 : kk - 1;
if (tp == 2)
{
if (ylo < 2)
ycnt += ystep;
else
{ ycnt += ylo * ystep;
yc += (ylo - 1) * ystep;
}
mline(xstart,yc,xcnt,ycnt,ivr,slt,1);
mline(xstart,ycnt,xcnt,ycnt,ivr,ks,1);
}
else
if (tp == 1)
{
if (yc == ystart) ycnt += ylo * ystep;
if (hor && diag.valence[ivr-1] == 4)
{
lot(&hh,&yy,ivr,pp,hor);
//printf("%s tp=1, ivr=%d pp=%d hh=%d yy=%d\n",buff, ivr,pp,hh,yy);
ycnt += (yhi + hh + 1) * ystep;
start = 1;
}
mline(xstart,ycnt,xcnt,ycnt,ivr,ks,1);
}
else
if (diag.valence[ivr-1] == 4)
{
start = 1;
if (!hor) cr(1,xcnt++,ycnt,ivr,slt);
}
else
if (hor && (OUT_PRTCL&diag.vertlist[ivr-1][1].prop)
&& (OUT_PRTCL&diag.vertlist[ivr-1][2].prop))
start = 1;
//printf("%s first start=%d\n",buff,start);
res->scr[xcnt-1][ycnt-1] = vertsign;
if (xcnt > res->mhor)
res->mhor = xcnt;
for (l = kk; l >= 2; l--)
{edgeinvert *with1 = &diag.vertlist[ivr-1][l-1];
if (!(IN_PRTCL & with1->prop))
{
if (flag)
{
// lot(&ylo,&yhi,ivr,l,start != 3);
lot(&ylo,&yhi,ivr,l,start==2);
//printf("%s start=%d vrt=%d l=%d hor=%d ylo=%d yhi=%d\n",buff, start, ivr,l, start==2, ylo,yhi);
}
else
flag = 1;
xx = (OUT_PRTCL&with1->prop) ? xend :
start == 3 ? xcnt : xcnt + xstep;
{vertlink *with2 = &with1->nextvert;
if (start == 1)
{
// lot(&hh,&yy,ivr,pp,1);
lot(&hh,&yy,ivr,l-1,1);
//printf("%s statr1 vrt=%d l-1=%d hh=%d yy=%d\n",buff, ivr, l-1,hh,yy);
yy = ycnt - (hh +1) * ystep;
mline(xcnt,ycnt,xx,yy,with2->vno,with2->edno,0);
if (!(OUT_PRTCL & with1->prop)) painter(xx,yy,with2->vno,with2->edno,1);
}
else
if (start == 2)
{
lot(&hh,&yhi,ivr,l,1);
mline(xcnt,ycnt,xx,ycnt,with2->vno,with2->edno,1);
if (!(OUT_PRTCL&with1->prop)) painter(xx,ycnt,with2->vno,with2->edno,1);
yy = yhi;
// yy=ylo;
}
else
{
//printf("%s start=? %d yy=%d ylo=%d\n",buff,start,yy,ylo);
yy += ylo + 1;
// yy+=yhi+1;
//printf("%s down %d\n",buff,yy);
yy = ycnt + yy * ystep;
mline(xcnt,ycnt,xx,yy,with2->vno,with2->edno,0);
if (!(OUT_PRTCL&with1->prop)) painter(xx,yy,with2->vno,with2->edno,0);
}
}
++(start);
}
}
} /* The end of Painter's body */
