void prepareValuesForPoseEstimation(IMAGEDATA templateImage, Mat homography, vector<Point3d> &modelPoints, vector<Point2f> &imagePoints, Point2f ¢erPoint ){
float height = templateImage.image.rows;
float width = templateImage.image.cols;
modelPoints.clear();
modelPoints.push_back(Point3d(0.0, 0.0, 0.0));
modelPoints.push_back(Point3d(height, 0.0, 0.0));
modelPoints.push_back(Point3d(height, height, 0.0));
modelPoints.push_back(Point3d(0.0, height, 0.0));
vector<Point2f> squareCorners;
squareCorners.push_back(Point2f(((width / 2.0f) - (height / 2.0f)), 0.0f));
squareCorners.push_back(Point2f(((width / 2.0f) + (height / 2.0f)), 0.0f));
squareCorners.push_back(Point2f(((width / 2.0f) + (height / 2.0f)), height));
squareCorners.push_back(Point2f(((width / 2.0f) - (height / 2.0f)), height));
imagePoints.clear();
transformPoints(homography, squareCorners, imagePoints);
vector<Point2f> centerPointTemplate;
vector<Point2f> temp;
centerPointTemplate.push_back(Point2f(width/2.0f, height/2.0f));
transformPoints(homography, centerPointTemplate, temp);
centerPoint = temp[0];
}
void HomotheticTransformation2D::transformPoints ( const Container <Point1 *, destructable> &global_points, const Container <Point2 *, destructable2> &local_points, Container <Point3 *, destructable3> &transformed_points,
TTransformationKeyHomothetic2D <typename Point1::Type> & key_homothetic, const bool print_exception, std::ostream * output )
{
//Compute non weighted 2D Homothetic transformation
typename TWeights <typename Point1::Type> ::Type weights ( global_points.size(), 1.0 );
transformPoints ( global_points, local_points, transformed_points, weights, key_homothetic );
}
void PointAlignerTest(){
MatrixXf P(2, 100);
for(int i=0; i<100; i++){
srand (time(NULL));
P(0, i) = rand()%100;
for(int j=0; j<100000; j++)
srand (time(NULL));
P(1, i) = rand()%100;
}
cout << "P : \n" << P << endl;
Vector3f x_ideal;
x_ideal << 20, 30, PI/2;
//cout << "x_ideal : \n" << x_ideal << endl;
Matrix3f X_ideal;
X_ideal = v2tRad(x_ideal);
//cout << "X_ideal : \n" << X_ideal << endl;
MatrixXf Pt(2, 100);
Pt = transformPoints(X_ideal.inverse(), P);
cout << "Pt : \n" << Pt << endl;
MatrixXf Z(4, P.cols());
for(int i=0; i<P.cols(); i++){
Z(0, i) = P(0, i);
Z(1, i) = P(1, i);
Z(2, i) = Pt(0, i);
Z(3, i) = Pt(1, i);
}
cout << "Z : \n" << Z << endl;
Vector3f x; //initial guess
x << 0,0,0;
cout << "x : \n" << x << endl;
cout << pointAlignerLoop(x, Z, 100);
return ;
}
/*
* Class: sun_java2d_x11_X11Renderer
* Method: XDrawPoly
* Signature: (IJII[I[IIZ)V
*/
JNIEXPORT void JNICALL Java_sun_java2d_x11_X11Renderer_XDrawPoly
(JNIEnv *env, jobject xr,
jlong pXSData, jlong xgc,
jint transx, jint transy,
jintArray xcoordsArray, jintArray ycoordsArray, jint npoints,
jboolean isclosed)
{
#ifndef HEADLESS
XPoint pTmp[POLYTEMPSIZE], *points;
X11SDOps *xsdo = (X11SDOps *) pXSData;
if (xsdo == NULL) {
return;
}
if (JNU_IsNull(env, xcoordsArray) || JNU_IsNull(env, ycoordsArray)) {
JNU_ThrowNullPointerException(env, "coordinate array");
return;
}
if ((*env)->GetArrayLength(env, ycoordsArray) < npoints ||
(*env)->GetArrayLength(env, xcoordsArray) < npoints)
{
JNU_ThrowArrayIndexOutOfBoundsException(env, "coordinate array");
return;
}
if (npoints < 2) {
return;
}
points = transformPoints(env, xcoordsArray, ycoordsArray, transx, transy,
pTmp, (int *)&npoints, isclosed);
if (points == 0) {
JNU_ThrowOutOfMemoryError(env, "translated coordinate array");
} else {
if (npoints == 2) {
/*
* Some X11 implementations fail to draw anything for
* simple 2 point polygons where the vertices are the
* same point even though this violates the X11
* specification. For simplicity we will dispatch all
* 2 point polygons through XDrawLine even if they are
* non-degenerate as this may invoke less processing
* down the line than a Poly primitive anyway.
*/
XDrawLine(awt_display, xsdo->drawable, (GC) xgc,
points[0].x, points[0].y,
points[1].x, points[1].y);
} else {
XDrawLines(awt_display, xsdo->drawable, (GC) xgc,
points, npoints, CoordModeOrigin);
}
if (points != pTmp) {
free(points);
}
X11SD_DirectRenderNotify(env, xsdo);
}
#endif /* !HEADLESS */
}
void translate(double x, double y, double z)
{
double tmp[16] =
{
1.0, 0.0, 0.0, x ,
0.0, 1.0, 0.0, y ,
0.0, 0.0, 1.0, z ,
0.0, 0.0, 0.0, 1.0
};
transformPoints(Matrix(tmp));
}
void scale(double x, double y, double z)
{
double tmp[16] =
{
x , 0.0, 0.0, 0.0,
0.0, y , 0.0, 0.0,
0.0, 0.0, z, 0.0,
0.0, 0.0, 0.0, 1.0
};
transformPoints(Matrix(tmp));
}
void rotateY(float angleDeg)
{
double angleRad = toRad(angleDeg);
double tmp[16] =
{
cos(angleRad) , 0.0, sin(angleRad), 0.0,
0.0 , 1.0, 0.0, 0.0,
-sin(angleRad), 0.0, cos(angleRad), 0.0,
0.0 , 0.0, 0.0, 1.0
};
transformPoints(Matrix(tmp));
}
void rotateX(double angleDeg)
{
double angleRad = toRad(angleDeg);
double tmp[16] =
{
1.0, 0.0, 0.0, 0.0,
0.0, cos(angleRad), -sin(angleRad), 0.0,
0.0, sin(angleRad), cos(angleRad), 0.0,
0.0, 0.0, 0.0, 1.0
};
transformPoints(Matrix(tmp));
mChanged = true;
}
void solidBodyMotionDisplacementPointPatchVectorField::updateCoeffs()
{
if (this->updated())
{
return;
}
// Determine current local points and offset
fixedValuePointPatchVectorField::operator==
(
transformPoints(SBMFPtr_().transformation(), localPoints0())
-localPoints0()
);
fixedValuePointPatchVectorField::updateCoeffs();
}
/*
* Class: sun_java2d_x11_X11Renderer
* Method: XFillPoly
* Signature: (IJII[I[II)V
*/
JNIEXPORT void JNICALL Java_sun_java2d_x11_X11Renderer_XFillPoly
(JNIEnv *env, jobject xr,
jlong pXSData, jlong xgc,
jint transx, jint transy,
jintArray xcoordsArray, jintArray ycoordsArray, jint npoints)
{
#ifndef HEADLESS
XPoint pTmp[POLYTEMPSIZE], *points;
X11SDOps *xsdo = (X11SDOps *) pXSData;
if (xsdo == NULL) {
return;
}
if (JNU_IsNull(env, xcoordsArray) || JNU_IsNull(env, ycoordsArray)) {
JNU_ThrowNullPointerException(env, "coordinate array");
return;
}
if ((*env)->GetArrayLength(env, ycoordsArray) < npoints ||
(*env)->GetArrayLength(env, xcoordsArray) < npoints)
{
JNU_ThrowArrayIndexOutOfBoundsException(env, "coordinate array");
return;
}
if (npoints < 3) {
return;
}
points = transformPoints(env, xcoordsArray, ycoordsArray, transx, transy,
pTmp, (int *)&npoints, JNI_FALSE);
if (points == 0) {
JNU_ThrowOutOfMemoryError(env, "translated coordinate array");
} else {
if (npoints > 2) {
XFillPolygon(awt_display, xsdo->drawable, (GC) xgc,
points, npoints, Complex, CoordModeOrigin);
X11SD_DirectRenderNotify(env, xsdo);
}
if (points != pTmp) {
free(points);
}
}
#endif /* !HEADLESS */
}
solidBodyMotionDisplacementPointPatchVectorField::
solidBodyMotionDisplacementPointPatchVectorField
(
const solidBodyMotionDisplacementPointPatchVectorField& ptf,
const DimensionedField<vector, pointMesh>& iF
)
:
fixedValuePointPatchVectorField(ptf, iF),
SBMFPtr_(ptf.SBMFPtr_().clone().ptr())
{
// For safety re-evaluate
fixedValuePointPatchVectorField::operator==
(
transformPoints(SBMFPtr_().transformation(), localPoints0())
-localPoints0()
);
}
void CurvePlot::outPut(QVector<float>&data)
{
int w = width() - Margin.Left - Margin.Right;
int h = height() - Margin.Top - Margin.Bottom;
pixmap = QPixmap(w, h);
QPainter painter(&pixmap);
painter.setRenderHints(QPainter::SmoothPixmapTransform);
painter.fillRect(QRectF(0, 0, w, h), Background);
QVector<QPointF> points;
transformPoints(data, w, h, points);
painter.setPen(Pen);
for (int i= 0; i< points.size()-1; i++)
painter.drawLine(points[i], points[i+1]);
update();
}
solidBodyMotionDisplacementPointPatchVectorField::
solidBodyMotionDisplacementPointPatchVectorField
(
const pointPatch& p,
const DimensionedField<vector, pointMesh>& iF,
const dictionary& dict
)
:
fixedValuePointPatchVectorField(p, iF, dict, false),
SBMFPtr_(solidBodyMotionFunction::New(dict, this->db().time()))
{
if (!dict.found("value"))
{
// Determine current local points and offset
fixedValuePointPatchVectorField::operator==
(
transformPoints(SBMFPtr_().transformation(), localPoints0())
-localPoints0()
);
}
}
PERF_TEST_P(DevInfo, transformPoints, testing::ValuesIn(devices()))
{
DeviceInfo devInfo = GetParam();
setDevice(devInfo.deviceID());
Mat src_host(1, 10000, CV_32FC3);
declare.in(src_host, WARMUP_RNG);
GpuMat src(src_host);
GpuMat dst;
declare.time(0.5).iterations(100);
SIMPLE_TEST_CYCLE()
{
transformPoints(src, Mat::ones(1, 3, CV_32FC1), Mat::ones(1, 3, CV_32FC1), dst);
}
Mat dst_host(dst);
SANITY_CHECK(dst_host);
}
