uint64_t gini_square_term(std::vector<uint64_t> const& frequencies) const
{
return std::inner_product( frequencies.begin(), frequencies.end(), frequencies.begin(), uint64_t(0));
}
bool CompareMetric::evaluate_with_Hessian_diagonal( PatchData& pd,
size_t handle,
double& value,
std::vector<size_t>& indices,
std::vector<Vector3D>& gradient,
std::vector<SymMatrix3D>& diagonal,
MsqError& err )
{
double m2val;
bool r1, r2;
m2Handles.clear();
m2Grad.clear();
m2Diag.clear();
r1 = metric1->evaluate_with_Hessian_diagonal( pd, handle, value, indices, gradient, diagonal, err ); MSQ_ERRZERO(err);
r2 = metric2->evaluate_with_Hessian_diagonal( pd, handle, m2val, m2Handles, m2Grad, m2Diag, err ); MSQ_ERRZERO(err);
if (r1 != r2 || (r1 && fabs(value - m2val) > epsilon)) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned different values for handle %lu in "
"evaluate_with_Hessian_diagonal:\n"
"\t%s %f vs. %s %f\n", (unsigned long)handle,
r1?"true":"false",value,r2?"true":"false",m2val);
}
else {
std::vector<size_t>::const_iterator i, j;
std::vector<Vector3D>::const_iterator r, s;
std::vector<SymMatrix3D>::const_iterator u, v;
int grad_diff = 0, hess_diff = 0;
bool same = (indices.size() == m2Handles.size());
std::sort( m2Handles.begin(), m2Handles.end() );
for (i = indices.begin(); i != indices.end(); ++i) {
j = std::lower_bound( m2Handles.begin(), m2Handles.end(), *i );
if (j == m2Handles.end() || *j != *i) {
same = false;
continue;
}
r = gradient.begin() + (i - indices.begin());
s = m2Grad.begin() + (j - m2Handles.begin());
if (!equal(*r,*s))
++grad_diff;
u = diagonal.begin() + (i - indices.begin());
v = m2Diag.begin() + (j - m2Handles.begin());
if (!equal(*u,*v))
++hess_diff;
}
if (!same) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned incompatible lists of vertex indices"
" for handle %lu in evaluate_with_Hessian_diagonal\n.",
(unsigned long)handle );
}
else if (grad_diff) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned different gradient vectors for "
" %d of %u vertices for handle %lu in "
"evaluate_with_Hessian_diagonal\n.",
grad_diff, (unsigned)gradient.size(),
(unsigned long)handle );
}
else if (hess_diff) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned different Hessian blocks for "
" %d of %u vertices for handle %lu in "
"evaluate_with_Hessian_diagonal\n.",
hess_diff, (unsigned)diagonal.size(),
(unsigned long)handle );
}
}
return r1 && !err;
}
void BCBase::set_entities(std::vector<int> const & e)const {
this->entities_.assign(e.begin(),e.end());
}
void LootManager::checkLoot(std::vector<Event_Component> &loot_table, FPoint *pos) {
if (hero == NULL) {
logError("LootManager: checkLoot() failed, no hero.\n");
return;
}
FPoint p;
Event_Component *ec;
ItemStack new_loot;
std::vector<Event_Component*> possible_ids;
int chance = rand() % 100;
// first drop any 'fixed' (0% chance) items
for (unsigned i = loot_table.size(); i > 0; i--) {
ec = &loot_table[i-1];
if (ec->z == 0) {
Point src;
if (pos) {
src = floor(*pos);
}
else {
src.x = ec->x;
src.y = ec->y;
}
p = mapr->collider.get_random_neighbor(src, drop_radius);
if (!mapr->collider.is_valid_position(p.x, p.y, MOVEMENT_NORMAL, false)) {
p = hero->pos;
}
else {
if (src.x == p.x && src.y == p.y)
p = hero->pos;
mapr->collider.block(p.x, p.y, false);
tiles_to_unblock.push_back(floor(p));
}
new_loot.quantity = randBetween(ec->a,ec->b);
// an item id of 0 means we should drop currency instead
if (ec->c == 0 || ec->c == CURRENCY_ID) {
new_loot.item = CURRENCY_ID;
new_loot.quantity = new_loot.quantity * (100 + hero->get(STAT_CURRENCY_FIND)) / 100;
}
else {
new_loot.item = ec->c;
}
addLoot(new_loot, p);
loot_table.erase(loot_table.begin()+i-1);
}
}
// now pick up to 1 random item to drop
int threshold = hero->get(STAT_ITEM_FIND) + 100;
for (unsigned i = 0; i < loot_table.size(); i++) {
ec = &loot_table[i];
int real_chance = ec->z;
if (ec->c != 0 && ec->c != CURRENCY_ID) {
real_chance = (int)((float)ec->z * (hero->get(STAT_ITEM_FIND) + 100) / 100.f);
}
if (real_chance >= chance) {
if (real_chance <= threshold) {
if (real_chance != threshold) {
possible_ids.clear();
}
threshold = real_chance;
}
if (chance <= threshold) {
possible_ids.push_back(ec);
}
}
}
if (!possible_ids.empty()) {
// if there was more than one item with the same chance, randomly pick one of them
int chosen_loot = rand() % possible_ids.size();
ec = possible_ids[chosen_loot];
Point src;
if (pos) {
src = floor(*pos);
}
else {
src.x = ec->x;
src.y = ec->y;
}
p = mapr->collider.get_random_neighbor(src, drop_radius);
if (!mapr->collider.is_valid_position(p.x, p.y, MOVEMENT_NORMAL, false)) {
p = hero->pos;
}
else {
if (src.x == p.x && src.y == p.y)
p = hero->pos;
mapr->collider.block(p.x, p.y, false);
tiles_to_unblock.push_back(floor(p));
}
new_loot.quantity = randBetween(ec->a,ec->b);
// an item id of 0 means we should drop currency instead
if (ec->c == 0 || ec->c == CURRENCY_ID) {
new_loot.item = CURRENCY_ID;
new_loot.quantity = new_loot.quantity * (100 + hero->get(STAT_CURRENCY_FIND)) / 100;
}
else {
new_loot.item = ec->c;
}
addLoot(new_loot, p);
}
}
void key(unsigned char key, int /*x*/, int /*y*/)
{
switch ( key )
{
case 'l':
{
loadAnim();
break;
}
case 'c':
{
FILE *file=fopen(animName.c_str(),"w");
fclose(file);
animOri.clear();
animPos.clear();
frameCount = 0;
animTime = 0;
break;
}
case 's':
{
FILE *file=fopen(animName.c_str(),"a");
OSG::Matrix m=cam_trans->getMatrix();
OSG::Quaternion q(m);
OSG::Real32 ax,ay,az,r;
animPos.push_back(OSG::Vec3f(m[3][0],
m[3][1],
m[3][2]));
animOri.push_back(q);
q.getValueAsAxisRad(ax,ay,az,r);
fprintf(file,"%f %f %f %f,%f %f %f\n",ax,ay,az,r,
m[3][0],
m[3][1],
m[3][2]);
fclose(file);
frameCount = 0;
animTime = 0;
break;
}
case 'S':
{
FILE *file=fopen((animName+".wrl").c_str(),"w");
std::vector<OSG::Quaternion>::iterator qit;
fprintf(file,"DEF OriInter OrientationInterpolator {\n\tkey [");
for(size_t i = 0; i < animOri.size(); ++i)
{
fprintf(file, "%f", i / OSG::Real32(animOri.size() - 1) );
if(i < animOri.size() - 1)
fprintf(file,", ");
}
fprintf(file,"]\n\tkeyValue [");
for(qit = animOri.begin(); qit != animOri.end(); ++qit)
{
OSG::Real32 ax,ay,az,r;
(*qit).getValueAsAxisRad(ax,ay,az,r);
fprintf(file, "%f %f %f %f", ax, ay, az, r );
if(qit < animOri.end() - 1)
fprintf(file,", ");
}
fprintf(file,"]\n}\n\n");
std::vector<OSG::Vec3f>::iterator vit;
fprintf(file,"DEF PosInter PositionInterpolator {\n\tkey [");
for(size_t i = 0; i < animPos.size(); ++i)
{
fprintf(file, "%f", i / OSG::Real32(animPos.size() - 1) );
if(i < animPos.size() - 1)
fprintf(file,", ");
}
fprintf(file,"]\n\tkeyValue [");
for(vit = animPos.begin(); vit != animPos.end(); ++vit)
{
OSG::Vec3f v = *vit;
fprintf(file, "%f %f %f, ", v[0], v[1], v[2] );
}
fprintf(file,"]\n}\n\n");
fclose(file);
break;
}
case 'j':
if(sortfirst!=NULL)
{
sortfirst->setCompression("JPEG");
}
break;
case 'r':
if(sortfirst!=NULL)
{
sortfirst->setCompression("RLE");
}
break;
case 'n':
if(sortfirst!=NULL)
{
sortfirst->editCompression().erase();
}
break;
case 'i':
showInfo = !showInfo;
break;
case 'w':
if(polygonChunk->getFrontMode() == GL_FILL)
polygonChunk->setFrontMode(GL_LINE);
else
polygonChunk->setFrontMode(GL_FILL);
if(polygonChunk->getBackMode() == GL_FILL)
polygonChunk->setBackMode(GL_LINE);
else
polygonChunk->setBackMode(GL_FILL);
break;
case 'a':
if(animate)
{
glutIdleFunc(NULL);
animate=false;
}
else
{
glutIdleFunc(display);
animate=true;
}
frameCount = 0;
animTime = 0;
break;
case 'd':
// remove tree
while(root->getNChildren())
{
root->subChild(0u);
}
break;
case '+':
_dsFactor += 0.01f;
if(_dsFactor > 1.0f)
_dsFactor = 1.0f;
setHEyeWallParameter(_dsFactor, _enablecc);
break;
case '-':
_dsFactor -= 0.01f;
if(_dsFactor <= 0.0f)
_dsFactor = 0.01f;
setHEyeWallParameter(_dsFactor, _enablecc);
break;
case 'f':
if(_enablecc)
_enablecc = false;
else
_enablecc = true;
setHEyeWallParameter(_dsFactor, _enablecc);
break;
case 'B':
if(bkgnd->getColor()[0] == 0.0)
bkgnd->setColor( OSG::Color3f(1,1,1) );
else
bkgnd->setColor( OSG::Color3f(0,0,0) );
break;
case 27: // should kill the clients here
// exit
cleanup();
OSG::osgExit();
exit(0);
}
glutPostRedisplay();
}
void SudokuGenerator::removeFromValue (std::vector<char>& vector, int pos) const {
vector.erase (vector.begin () + pos);
}
// ------------------------------------------------------------------------------------------------
// Returns an iterator for all positions close to the given position.
void SGSpatialSort::FindPositions( const aiVector3D& pPosition,
uint32_t pSG,
float pRadius,
std::vector<unsigned int>& poResults,
bool exactMatch /*= false*/) const
{
float dist = pPosition * mPlaneNormal;
float minDist = dist - pRadius, maxDist = dist + pRadius;
// clear the array in this strange fashion because a simple clear() would also deallocate
// the array which we want to avoid
poResults.erase( poResults.begin(), poResults.end());
// quick check for positions outside the range
if( mPositions.size() == 0)
return;
if( maxDist < mPositions.front().mDistance)
return;
if( minDist > mPositions.back().mDistance)
return;
// do a binary search for the minimal distance to start the iteration there
unsigned int index = (unsigned int)mPositions.size() / 2;
unsigned int binaryStepSize = (unsigned int)mPositions.size() / 4;
while( binaryStepSize > 1)
{
if( mPositions[index].mDistance < minDist)
index += binaryStepSize;
else
index -= binaryStepSize;
binaryStepSize /= 2;
}
// depending on the direction of the last step we need to single step a bit back or forth
// to find the actual beginning element of the range
while( index > 0 && mPositions[index].mDistance > minDist)
index--;
while( index < (mPositions.size() - 1) && mPositions[index].mDistance < minDist)
index++;
// Mow start iterating from there until the first position lays outside of the distance range.
// Add all positions inside the distance range within the given radius to the result aray
float squareEpsilon = pRadius * pRadius;
std::vector<Entry>::const_iterator it = mPositions.begin() + index;
std::vector<Entry>::const_iterator end = mPositions.end();
if (exactMatch)
{
while( it->mDistance < maxDist)
{
if((it->mPosition - pPosition).SquareLength() < squareEpsilon && it->mSmoothGroups == pSG)
{
poResults.push_back( it->mIndex);
}
++it;
if( end == it )break;
}
}
else
{
// if the given smoothing group is 0, we'll return all surrounding vertices
if (!pSG)
{
while( it->mDistance < maxDist)
{
if((it->mPosition - pPosition).SquareLength() < squareEpsilon)
poResults.push_back( it->mIndex);
++it;
if( end == it)break;
}
}
else while( it->mDistance < maxDist)
{
if((it->mPosition - pPosition).SquareLength() < squareEpsilon &&
(it->mSmoothGroups & pSG || !it->mSmoothGroups))
{
poResults.push_back( it->mIndex);
}
++it;
if( end == it)break;
}
}
}
//recall that n_v is the number of vertices (not the number of tokens in a sentence such as in the previous case)
Graph::Graph(int n_v, std::vector<Edge>& vect) {
no_of_vertices = n_v;
for (std::vector<Edge>::iterator it = vect.begin(); it != vect.end(); it++) {
arr_edge.push_back(*it); //deep copy
}
}
void
MaterialData::reinit(const std::vector<MooseSharedPointer<Material> > & mats)
{
for (std::vector<MooseSharedPointer<Material> >::const_iterator it = mats.begin(); it != mats.end(); ++it)
(*it)->computeProperties();
}
std::vector<Blob> BlobCheck::CheckIfBlobIsLicensePlate(std::vector<Blob> &blobobjects, std::vector< std::vector<int> > blobMap) {
std::vector<Blob> validBlobs;
//check if blob of possible licenseplate
for (std::vector<Blob>::iterator it = blobobjects.begin(); it != blobobjects.end(); ++it) {
double ratio = it->getRatio();
if (ratio >= 2.1 && ratio <= 5.5) {
int edgeCounter = 0;
int lastBlobId = 0;
int smallY = it->getSmallestY();
int smallX = it->getSmallestX();
int bigY = it->getBiggestY();
int bigX = it->getBiggestX();
int y = ((bigY - smallY) / 2) + smallY;
for (int x = smallX; x < bigX; x++){
if (blobMap[y][x] != lastBlobId){
edgeCounter++;
lastBlobId = blobMap[y][x];
}
}
if (edgeCounter >= 5)
validBlobs.insert(validBlobs.end(), *it);
}
}
//std::cout << "validBlobs: " << validBlobs.size() << std::endl;
for (std::vector<Blob>::iterator it = validBlobs.begin(); it != validBlobs.end(); it++) {
int blobId = it->getId();
int h = it->getHeight();
bool labelFound = false;
int cornerTLY = -1;
int cornerTLX = -1;
int cornerTRY = -1;
int cornerTRX = -1;
int cornerBLY = -1;
int cornerBLX = -1;
int cornerBRY = -1;
int cornerBRX = -1;
int minFlatRate = 2;
int lastY = -1;
int flatCnt = 0;
int smallY = it->getSmallestY();
int smallX = it->getSmallestX();
int bigY = it->getBiggestY();
int bigX = it->getBiggestX();
int halfX = smallX + ((bigX - smallX) / 2);
int halfY = smallY + ((bigY - smallY) / 2);
//Top Left
for (int x = halfX; x > smallX; x--) {
for (int y = smallY; y < bigY && labelFound == false; y++) {
//We found the label we are looking for.
if (blobMap[y][x] == blobId) {
labelFound = true;
if (lastY == -1) lastY = y;
if (y == lastY) {
flatCnt++;
if (flatCnt >= minFlatRate && y < halfY) {
cornerTLY = y;
cornerTLX = x;
}
}
else {
flatCnt = 0;
}
lastY = y;
}
}
labelFound = false;
}
flatCnt = 0;
lastY = -1;
//Top right
for (int x = halfX; x < bigX; x++) {
for (int y = smallY; y < bigY && labelFound == false; y++) {
//We found the label we are looking for.
if (blobMap[y][x] == blobId) {
labelFound = true;
if (lastY == -1) lastY = y;
if (y == lastY) {
flatCnt++;
if (flatCnt >= minFlatRate && y < halfY) {
cornerTRY = y;
cornerTRX = x;
}
}
else {
flatCnt = 0;
}
lastY = y;
}
}
labelFound = false;
}
flatCnt = 0;
lastY = -1;
// Bot left
for (int x = halfX; x > smallX; x--) {
for (int y = bigY; y > smallY && labelFound == false; y--) {
//We found the label we are looking for.
if (blobMap[y][x] == blobId) {
labelFound = true;
if (lastY == -1) lastY = y;
if (y == lastY) {
flatCnt++;
if (flatCnt >= minFlatRate && y > halfY) {
cornerBLY = y;
cornerBLX = x;
}
}
else {
flatCnt = 0;
}
lastY = y;
}
}
labelFound = false;
}
flatCnt = 0;
lastY = -1;
//Bot right
for (int x = halfX; x < bigX; x++) {
for (int y = bigY; y > smallY && labelFound == false; y--) {
//We found the label we are looking for.
if (blobMap[y][x] == blobId) {
labelFound = true;
if (lastY == -1) lastY = y;
if (y == lastY) {
flatCnt++;
if (flatCnt >= minFlatRate && y > halfY) {
cornerBRY = y;
cornerBRX = x;
}
}
else {
flatCnt = 0;
}
lastY = y;
}
}
labelFound = false;
}
std::vector<int> cornerPoints(8);
cornerPoints[0] = cornerTLX;
cornerPoints[1] = cornerTLY;
cornerPoints[2] = cornerTRX;
cornerPoints[3] = cornerTRY;
cornerPoints[4] = cornerBLX;
cornerPoints[5] = cornerBLY;
cornerPoints[6] = cornerBRX;
cornerPoints[7] = cornerBRY;
it->setCornerPoints(cornerPoints);
}
return validBlobs;
}
int mainConfigOptionsSetup(const std::vector<std::string>& args) {
InitDirs((args.empty() ? "" : *args.begin()));
// read and process command-line arguments, if any
try {
// add entries in options DB that have no other obvious place
GetOptionsDB().AddFlag('h', "help", UserStringNop("OPTIONS_DB_HELP"), false);
GetOptionsDB().AddFlag('g', "generate-config-xml", UserStringNop("OPTIONS_DB_GENERATE_CONFIG_XML"), false);
GetOptionsDB().AddFlag('f', "fullscreen", UserStringNop("OPTIONS_DB_FULLSCREEN"), STORE_FULLSCREEN_FLAG);
GetOptionsDB().Add("reset-fullscreen-size", UserStringNop("OPTIONS_DB_RESET_FSSIZE"), true);
GetOptionsDB().Add<int>("fullscreen-monitor-id", UserStringNop("OPTIONS_DB_FULLSCREEN_MONITOR_ID"), 0, RangedValidator<int>(0, 5));
GetOptionsDB().AddFlag('q', "quickstart", UserStringNop("OPTIONS_DB_QUICKSTART"), false);
GetOptionsDB().AddFlag("auto-advance-first-turn", UserStringNop("OPTIONS_DB_AUTO_FIRST_TURN"), false);
GetOptionsDB().Add<std::string>("load", UserStringNop("OPTIONS_DB_LOAD"), "", Validator<std::string>(), false);
GetOptionsDB().Add("UI.sound.music-enabled", UserStringNop("OPTIONS_DB_MUSIC_ON"), true);
GetOptionsDB().Add("UI.sound.enabled", UserStringNop("OPTIONS_DB_SOUND_ON"), true);
GetOptionsDB().Add<std::string>("version-string", UserStringNop("OPTIONS_DB_VERSION_STRING"),
FreeOrionVersionString(), Validator<std::string>(), true);
GetOptionsDB().AddFlag('r', "render-simple", UserStringNop("OPTIONS_DB_RENDER_SIMPLE"), false);
// Add the keyboard shortcuts
Hotkey::AddOptions(GetOptionsDB());
// read config.xml and set options entries from it, if present
{
XMLDoc doc;
try {
boost::filesystem::ifstream ifs(GetConfigPath());
if (ifs) {
doc.ReadDoc(ifs);
// reject config files from out-of-date version
if (doc.root_node.ContainsChild("version-string") &&
doc.root_node.Child("version-string").Text() == FreeOrionVersionString())
{
GetOptionsDB().SetFromXML(doc);
}
}
} catch (const std::exception&) {
std::cerr << UserString("UNABLE_TO_READ_CONFIG_XML") << std::endl;
}
}
// override previously-saved and default options with command line parameters and flags
GetOptionsDB().SetFromCommandLine(args);
// Handle the case where the resource-dir does not exist anymore
// gracefully by resetting it to the standard path into the
// application bundle. This may happen if a previous installed
// version of FreeOrion was residing in a different directory.
if (!boost::filesystem::exists(GetResourceDir()) ||
!boost::filesystem::exists(GetResourceDir() / "credits.xml") ||
!boost::filesystem::exists(GetResourceDir() / "data" / "art" / "misc" / "missing.png"))
{
Logger().debugStream() << "Resources directory from config.xml missing or does not contain expected files. Resetting to default.";
GetOptionsDB().Set<std::string>("resource-dir", "");
// double-check that resetting actually fixed things...
if (!boost::filesystem::exists(GetResourceDir()) ||
!boost::filesystem::exists(GetResourceDir() / "credits.xml") ||
!boost::filesystem::exists(GetResourceDir() / "data" / "art" / "misc" / "missing.png"))
{
Logger().debugStream() << "Default Resources directory missing or does not contain expected files. Cannot start game.";
std::string path_string;
#if defined(FREEORION_WIN32)
boost::filesystem::path::string_type path_string_native = GetResourceDir().native();
utf8::utf16to8(path_string_native.begin(), path_string_native.end(), std::back_inserter(path_string));
#else
path_string = GetResourceDir().string();
#endif
throw std::runtime_error("Unable to load game resources at default location: " +
path_string + " : Install may be broken.");
}
}
// did the player request generation of config.xml, saving the default (or current) options to disk?
if (GetOptionsDB().Get<bool>("generate-config-xml")) {
try {
boost::filesystem::ofstream ofs(GetConfigPath());
if (ofs) {
GetOptionsDB().GetXML().WriteDoc(ofs);
} else {
std::cerr << UserString("UNABLE_TO_WRITE_CONFIG_XML") << std::endl;
#if defined(FREEORION_WIN32)
boost::filesystem::path::string_type path_string_native = GetConfigPath().native();
std::string path_string;
utf8::utf16to8(path_string_native.begin(), path_string_native.end(), std::back_inserter(path_string));
std::cerr << path_string << std::endl;
#else
std::cerr << GetConfigPath().string() << std::endl;
#endif
}
} catch (const std::exception&) {
std::cerr << UserString("UNABLE_TO_WRITE_CONFIG_XML") << std::endl;
}
}
if (GetOptionsDB().Get<bool>("render-simple")) {
GetOptionsDB().Set<bool>("UI.galaxy-gas-background",false);
GetOptionsDB().Set<bool>("UI.galaxy-starfields", false);
GetOptionsDB().Set<bool>("show-fps", true);
}
} catch (const std::invalid_argument& e) {
std::cerr << "main() caught exception(std::invalid_argument): " << e.what() << std::endl;
boost::this_thread::sleep(boost::posix_time::seconds(3));
return 1;
} catch (const std::runtime_error& e) {
std::cerr << "main() caught exception(std::runtime_error): " << e.what() << std::endl;
boost::this_thread::sleep(boost::posix_time::seconds(3));
return 1;
} catch (const std::exception& e) {
std::cerr << "main() caught exception(std::exception): " << e.what() << std::endl;
boost::this_thread::sleep(boost::posix_time::seconds(3));
return 1;
} catch (...) {
std::cerr << "main() caught unknown exception." << std::endl;
return 1;
}
return 0;
}
void Permutator::_CreateGraph(BYTE* sectionData, _OffsetType blockOffset, DWORD dwSectionSize, _OffsetType parentOffset,
std::vector<Block>& targets)
{
_DecodeResult res;
unsigned int decodedInstructionsCount = 0;
_DecodeType dt = Decode32Bits;
_OffsetType offset = blockOffset;
_OffsetType offsetEnd;
_DecodedInst decodedInstructions[MAX_INSTRUCTIONS];
unsigned int i;
QWORD tmpOffset = blockOffset;
std::string mnemonic, operand;
bool skipFlag;
while (1)
{
res = distorm_decode(offset, (const unsigned char*)sectionData, dwSectionSize,
dt, decodedInstructions, MAX_INSTRUCTIONS, &decodedInstructionsCount);
if (res == DECRES_INPUTERR)
{
free(sectionData);
return;
}
for (i = 0; i < decodedInstructionsCount; ++i)
{
mnemonic = (reinterpret_cast<char*>(decodedInstructions[i].mnemonic.p));
if (IsJump(mnemonic) ||
mnemonic.compare("RET") == 0 ||
mnemonic.compare("RETN") == 0 ||
mnemonic.substr(0, 2).compare("DB") == 0)
{
break;
}
if (mnemonic.compare("CALL") == 0)
{
std::string functionOperand = reinterpret_cast<char*> (decodedInstructions[i].operands.p);
if (IsRegister(functionOperand) || !IsFunctionOperandValid(functionOperand))
continue;
QWORD functionOffset = std::stoll(functionOperand, nullptr, 0);
graph.AddFunctionOffset(tmpOffset, functionOffset - tmpOffset);
}
tmpOffset += decodedInstructions[i].size;
}
// Main part of graph creation
offsetEnd = decodedInstructions[i].offset;
DWORD blockSize = (DWORD)(offsetEnd + decodedInstructions[i].size - offset);
Node* node = new Node();
// Set 1 to block places in dataBytes
for (DWORD j = 0; j < blockSize; ++j)
{
dataBytes[blockOffset + j] = 1;
}
node->SetOffset((DWORD)offset);
node->SetInstructions(sectionData, blockSize);
// Newly added code
skipFlag = false;
for (std::vector<Block>::iterator it = targets.begin(); it != targets.end(); ++it)
{
if (((*it).offset == node->GetOffset()) && (*it).parentOffset == parentOffset)
{
skipFlag = true;
break;
}
}
if (skipFlag)
return;
Block b;
b.offset = node->GetOffset();
b.parentOffset = parentOffset;
targets.push_back(b);
if (graph.AddNode(node, (DWORD)parentOffset))
{
return;
}
if (mnemonic.compare("RET") == 0 ||
mnemonic.compare("RETN") == 0 ||
mnemonic.substr(0, 2).compare("DB") == 0)
return;
operand = reinterpret_cast<char*>(decodedInstructions[i].operands.p);
operand.resize(decodedInstructions[i].operands.length);
if (IsRegister(operand))
return;
QWORD newOffset = std::stoll(operand, nullptr, 0);
if (!CheckRange(newOffset))
{
std::cerr << "Offset out of CODE section!" << std::endl;
return;
}
_CreateGraph(sectionData + blockSize + (newOffset - offsetEnd - decodedInstructions[i].size),
newOffset,
dwSectionSize - (DWORD)newOffset + (DWORD)offset,
node->GetOffset(),
targets);
if (mnemonic.compare("JMP") == 0)
return;
QWORD jumpFalseOffset = offsetEnd + decodedInstructions[i].size;
_CreateGraph(sectionData + jumpFalseOffset - offset,
jumpFalseOffset,
dwSectionSize - (DWORD)jumpFalseOffset + (DWORD)offset,
node->GetOffset(),
targets);
break;
}
}
std::vector<int> TopK2(std::vector<int> &input, int k) {
TopK(input, 0, (int)input.size() - 1, k);
return std::vector<int>(input.begin(), input.begin() + k);
}
void rgb_pcl::getTracker(std::vector<PointCloudPtr> object_clouds, Mat displayImage){
//Assign tracker to the clouds
for(unsigned int count1 = 0; count1 < trackerList.size(); count1++){
cv::Point3d position(0, 0, 0);
double maxScore = 0;
int id_cloud = -1;
cv::Point3d pos_tracker;
int size_tracker;
double hue_tracker;
for(unsigned int count2 = 0; count2 < object_clouds.size(); count2 ++){
int size = object_clouds[count2]->points.size();
cv::Point3d position(0, 0, 0);
double hue = 0;
getCloudFeatures(position, hue, object_clouds[count2]);
double score = trackerList[count1].isRecognized(position, 0, size);
if(score > maxScore){
maxScore = score;
id_cloud = count2;
pos_tracker = position;
size_tracker = size;
hue_tracker = hue;
}
}
if(id_cloud != -1){
trackerList[count1].updateTracker(pos_tracker, hue_tracker, size_tracker, object_clouds[id_cloud]);
object_clouds.erase(object_clouds.begin()+id_cloud);
}
}
// cout<<trackerList.size()<<endl;
//Create new tracker for the remaining clouds
for(auto cloudCluster: object_clouds){
int size = object_clouds[0]->points.size();
cv::Point3d position(0, 0, 0);
double hue = 0;
getCloudFeatures(position, hue, cloudCluster);
track_3d newTracker(position, hue, size);
trackerList.push_back(newTracker);
}
//Delete lost tracker and display tracked clouds
for(unsigned int count = 0; count < trackerList.size(); count ++){
trackerList[count].step();
if(!trackerList[count].isAlive()){
trackerList.erase(trackerList.begin()+count);
count --;
}else if(trackerList[count].isFound() && !trackerList[count].isGone()){
#if DISPLAY
drawTrackers(displayImage, trackerList[count], to_string(count));
#endif
}
}
}
void Filters::FilterList::TestElements(std::vector<GContainer::Container *> &test){
std::vector< std::vector<GContainer::Container *> > masterList;
std::vector<GContainer::Container *> originalList = test;
std::vector<GContainer::Container *> newList;
std::vector<FilterGroup *>::iterator gItr = _allFilters.begin();
for(; gItr != _allFilters.end(); gItr++){
std::vector<Filter *>::iterator fItr = (*gItr)->_filters.begin();
for(; fItr != (*gItr)->_filters.end(); fItr++){
GContainer::ContainerIterator * theFilter = (*fItr)->Container()->GetIterator();
if(not theFilter->Begin()){
std::cout << "There was a problem with the Filter." <<std::endl;
exit(-4);
}
std::vector<GContainer::Container *>::iterator itr = test.begin();
for( ; itr != test.end() ; itr++){
bool testVal = false;
GContainer::ContainerIterator * theRecord = (*itr)->GetIterator();
if( not theRecord->Find(theFilter->iterator->first)){
std::cout << "This record has no field " << theFilter->iterator->first << std::endl;
continue;
}
switch((*fItr)->GetType()){
case EQUAL:
testVal = (*(theRecord->iterator->second) == (theFilter->iterator->second));
break;
case CONTAINS:
testVal = false;//(*(theRecord->iterator->second)->Contains(theFilter->iterator->second));
break;
case LESS_THAN:
testVal = (*(theRecord->iterator->second) < (theFilter->iterator->second));
break;
case LESS_THAN_OR_EQUAL:
testVal = (*(theRecord->iterator->second) <= (theFilter->iterator->second));
break;
case GREATER_THAN:
testVal = (*(theRecord->iterator->second) > (theFilter->iterator->second));
break;
case GREATER_THAN_OR_EQUAL:
testVal = (*(theRecord->iterator->second) >= (theFilter->iterator->second));
break;
case NOT_EQUAL:
testVal = (*(theRecord->iterator->second) != (theFilter->iterator->second));
break;
default:
std::cout << "Bad type. Check your filter file." << std::endl;
break;
}
if(testVal){
newList.push_back(*itr);
}
}
test.clear();
test = newList;
newList.clear();
}
masterList.push_back(test);
newList.clear();
test = originalList;
std::cout << " master List has " << masterList.size() << " elements" << std::endl;
}
test.clear();
std::vector< std::vector<GContainer::Container *> >::iterator mItr = masterList.begin();
for(; mItr != masterList.end(); mItr++){
std::vector<GContainer::Container *>::iterator lItr = mItr->begin();
for(; lItr != mItr->end(); lItr++){
test.push_back(*lItr);
}
}
}
void clang_registerCheckers(clang::ento::CheckerRegistry ®istry) {
for(std::vector<register_checker_callback_t>::iterator it = callbacks.begin(); it != callbacks.end(); ++it) {
(*it)(registry);
}
}
void SudokuGenerator::removeFromCell (std::vector<std::pair<int,int>>& vector, int pos) const {
vector.erase (vector.begin () + pos);
}
//===========================================================================
std::vector<std::vector<double> >
TrimCrvUtils::splitCurvePointsInKinks(const std::vector<double>& trim_pts_2d,
double kink_tol)
//===========================================================================
{
vector<vector<double> > segment_pts;
// We must handle noise in the input data and can not use the direction between two consecutive points to define
// the kinks in the boundary curve. We use the average of a certain number of points in both directions to
// estimate the direction.
const int num_avg_pts_both_dirs = 5; //10;//50;//10;//5;
// @@sbr201410 Do not compare with previous direction, longer back!
//MESSAGE("Check direction change vs pts[ki-num_avg_pts_both_dirs]");
// const double kink_tol = 5e-01; // 0.1 deg => 5.7 degrees.
// If the direction changes more than a certain tol after num_avg_pts, we define this as a kink and must
// locate the point for which this change of direction is most prominent.
double tol = 1.0e-4;
const int num_pts = (int)trim_pts_2d.size()/2;
double dd = Utils::distance_squared(trim_pts_2d.begin(),
trim_pts_2d.begin()+2,
trim_pts_2d.end()-2);
bool closed = (dd < tol);
if (num_pts <= 2*num_avg_pts_both_dirs)
{
segment_pts.push_back(trim_pts_2d);
return segment_pts;
}
vector<int> segment_ind; // We store all kink indices.
segment_ind.push_back(0);
Point prev_dir = averageDirection(trim_pts_2d, 0, num_avg_pts_both_dirs);
//MESSAGE("num_pts: " << num_pts);
vector<Point> avg_dirs(num_pts, Point(0.0, 0.0));
vector<double> angles(num_pts, 0.0);
for (int ki = num_avg_pts_both_dirs; ki < num_pts - num_avg_pts_both_dirs; ++ki)
{
int from = std::max(0, ki - num_avg_pts_both_dirs);
int to = std::min(ki + num_avg_pts_both_dirs, num_pts - 1);
Point avg_dir = averageDirection(trim_pts_2d, from, to);
avg_dir.normalize();
avg_dirs[ki] = avg_dir;
if (avg_dir.length() == 0)
{ // Typically this means the we are turning around 180 degrees in the current point.
MESSAGE("Something strange with the input I suspect!");
continue;
}
// double angle = prev_dir.angle(avg_dir);
if (avg_dirs[ki-num_avg_pts_both_dirs].length() > 0.0 && avg_dir.length() > 0.0)
{
double angle = avg_dirs[ki-num_avg_pts_both_dirs].angle(avg_dir);
angles[ki] = angle;
if (angle > kink_tol)
{
//MESSAGE("ki = " << ki << ", angle = " << angle);
segment_ind.push_back(ceil(ki-0.5*num_avg_pts_both_dirs));
}
}
// prev_dir = avg_dir;
}
segment_ind.push_back(num_pts - 1);
#ifdef DEBUG
{ // We write to file the point and the segments surrounding it.
vector<double> corner_pts;
for (size_t ki = 0; ki < segment_ind.size(); ++ki)
{
corner_pts.push_back(trim_pts_2d[segment_ind[ki]*2]);
corner_pts.push_back(trim_pts_2d[segment_ind[ki]*2+1]);
corner_pts.push_back(0.0); // We place the pts in the z-plane.
}
LineCloud trim_pts;
PointCloud3D end_pts(corner_pts.begin(), corner_pts.size()/3);
std::ofstream fileout_debug("tmp/ptset_debug.g2");
//MESSAGE("Writing to file the end pts of segments.");
// end_pts.writeStandardHeader(fileout_debug);
fileout_debug << "400 1 0 4 255 0 0 255" << endl;
end_pts.write(fileout_debug);
//MESSAGE("Done writing to file the end pts of segments.");
}
#endif
bool split_into_segments = true;
if (split_into_segments)
{
// We run through and split based on segment_ind.
// When there is a consecutive row of indices we choose the middle one.
vector<int> thinned_segment_ind;
int counter = 0;
for (size_t ki = 0; ki < segment_ind.size(); ++ki)
{
if ((ki < segment_ind.size() - 1) && (segment_ind[ki] + 1 == segment_ind[ki+1]))
{
++counter;
}
else
{
if (counter > num_pts/4 && closed)
{
// Split in both end points to avoid a too
// restricted loop
if (segment_ind[ki] > counter)
thinned_segment_ind.push_back(segment_ind[ki] - counter);
if (segment_ind[ki] < num_pts - 1)
thinned_segment_ind.push_back(segment_ind[ki]);
counter = 0;
}
else if (counter > 1)
{
vector<double> ang(counter);
for (size_t ka=0; ka<counter; ++ka)
{
int kb = segment_ind[ki] - counter + ka;
int from = std::max(0, kb - num_avg_pts_both_dirs);
int to = std::min(kb + num_avg_pts_both_dirs, num_pts - 1);
// Point avg_dir1 = averageDirection(trim_pts_2d,
// from, kb);
// Point avg_dir2 = averageDirection(trim_pts_2d,
// kb, to);
Point avg_dir1(trim_pts_2d[2*kb]-trim_pts_2d[2*from],
trim_pts_2d[2*kb+1]-trim_pts_2d[2*from+1]);
Point avg_dir2(trim_pts_2d[2*to]-trim_pts_2d[2*kb],
trim_pts_2d[2*to+1]-trim_pts_2d[2*kb+1]);
ang[ka] = avg_dir1.angle(avg_dir2);
}
int stop_break = 1;
// We are at the end of a consecutive stream of indices.
// Picking the most significant one.
//int avg_ind = segment_ind[ki] - floor(0.5*counter);
//cout << "avg_ind: " << avg_ind << endl;
double max_val = ang[0];
int max_ind = 0;
for (int kb=1; kb<(int)ang.size(); ++kb)
{
if (ang[kb] > max_val)
{
max_val = ang[kb];
max_ind = kb;
}
}
thinned_segment_ind.push_back(segment_ind[ki] - counter + max_ind);
counter = 0;
}
else
thinned_segment_ind.push_back(segment_ind[ki]);
}
}
// First and last point should be included, but we make sure anyway.
if (thinned_segment_ind.front() != 0)
{
thinned_segment_ind.insert(thinned_segment_ind.begin(), 0);
}
if (thinned_segment_ind.back() != num_pts - 1)
{
thinned_segment_ind.push_back(num_pts - 1);
}
#ifdef DEBUG
{ // We write to file the point and the segments surrounding it.
vector<double> corner_pts;
for (size_t ki = 0; ki < thinned_segment_ind.size(); ++ki)
{
corner_pts.push_back(trim_pts_2d[thinned_segment_ind[ki]*2]);
corner_pts.push_back(trim_pts_2d[thinned_segment_ind[ki]*2+1]);
corner_pts.push_back(0.0); // We place the pts in the z-plane.
}
LineCloud trim_pts;
PointCloud3D end_pts(corner_pts.begin(), corner_pts.size()/3);
std::ofstream fileout_debug("tmp/ptset_debug2.g2");
MESSAGE("Writing to file the end pts of segments.");
// end_pts.writeStandardHeader(fileout_debug);
fileout_debug << "400 1 0 4 0 255 0 255" << endl;
end_pts.write(fileout_debug);
MESSAGE("Done writing to file the end pts of segments.");
}
#endif
int num_segments = thinned_segment_ind.size() - 1;
segment_pts.resize(num_segments);
for (size_t ki = 0; ki < thinned_segment_ind.size() - 1; ++ki)
{
int first = thinned_segment_ind[ki];
int last = thinned_segment_ind[ki+1];
segment_pts[ki].insert(segment_pts[ki].end(),
trim_pts_2d.begin() + 2*first, trim_pts_2d.begin() + 2*(last + 1));
}
// MESSAGE("Returning the input for now ...");
// segment_pts.push_back(trim_pts_2d);
}
else
{
MESSAGE("Returning the input for now ...");
segment_pts.push_back(trim_pts_2d);
}
return segment_pts;
}
const std::vector<unsigned char> KLUPD::HttpProtocol::HTTPRequestBuilder::generateRequest(const Path &fileName, const Path &relativeUrlPath,
const bool useProxy, const Address &serverAddress,
const std::string &userAgent,
const std::string &proxyAuthorizationHeader,
const size_t regettingPosition,
const std::vector<unsigned char> &postData)
{
m_requestBuffer.clear();
// 1. "GET ftp://user:[email protected]/path/file.xml HTTP/1.1"
{
std::ostringstream stream;
stream.imbue(std::locale::classic());
// request type
stream << (m_method == get ? "GET " : "POST ");
// request_protocol_prefix, request_host
if(useProxy)
{
stream << toProtocolPrefix(serverAddress.m_protocol).toAscii();
if((serverAddress.m_protocol == ftpTransport)
&& !serverAddress.m_credentials.empty())
{
// user:password@
stream << serverAddress.m_credentials.userName().toAscii()
<< ":" << serverAddress.m_credentials.password().toAscii() << "@";
}
stream << serverAddress.m_hostname.toAscii();
if(serverAddress.m_protocol == ftpTransport)
{
if(serverAddress.m_service != L"21")
stream << ":" << serverAddress.m_service.toAscii();
}
else
{
if(serverAddress.m_service != L"80")
stream << ":" << serverAddress.m_service.toAscii();
}
}
Path remotePath = serverAddress.m_path + relativeUrlPath;
remotePath.correctPathDelimiters();
stream << remotePath.toAscii() << fileName.toAscii();
// HTTP version
stream << " HTTP/1.0";
addLine(stream.str());
}
// 2. "Host: downloads1.kaspersky-labs.com"
{
std::ostringstream stream;
stream.imbue(std::locale::classic());
stream << "Host: " << serverAddress.m_hostname.toAscii();
addLine(stream.str());
}
if(m_method == get)
{
// 3. "Pragma: no-cache" & "Cache-Control: no-cache"
addLine("Pragma: no-cache");
addLine("Cache-Control: no-cache");
}
// 4. Keep connection
if(useProxy)
{
addLine("Proxy-Connection: keep-alive");
addLine("Connection: keep-alive");
}
else
addLine("Connection: keep-alive");
// 5. User-agent
if(!userAgent.empty())
{
std::ostringstream stream;
stream.imbue(std::locale::classic());
stream << "User-Agent: " << userAgent;
addLine(stream.str());
}
// 6. Proxy authorization
if(useProxy && !proxyAuthorizationHeader.empty())
{
std::ostringstream stream;
stream.imbue(std::locale::classic());
stream << "Proxy-Authorization: " << proxyAuthorizationHeader;
addLine(stream.str());
}
// 7. Regetting range
if(regettingPosition)
{
std::ostringstream stream;
stream.imbue(std::locale::classic());
stream << "Range: bytes=" << regettingPosition << "-";
addLine(stream.str());
}
if(m_method == post)
{
// 8. Content Length
std::ostringstream stream;
stream.imbue(std::locale::classic());
stream << "Content-Length: " << postData.size();
addLine(stream.str());
// 9. post data
m_requestBuffer.insert(m_requestBuffer.end(), postData.begin(), postData.end());
}
return m_requestBuffer;
}
TranscriptGeneMap transcriptToGeneMapFromFeatures( std::vector<GenomicFeature<T>> &feats ) {
using std::unordered_set;
using std::unordered_map;
using std::vector;
using std::tuple;
using std::string;
using std::get;
using NameID = tuple<string, size_t>;
IndexVector t2g;
NameVector transcriptNames;
NameVector geneNames;
// holds the mapping from transcript ID to gene ID
IndexVector t2gUnordered;
// holds the set of gene IDs
unordered_map<string, size_t> geneNameToID;
// To read the input and assign ids
size_t geneCounter = 0;
string transcript;
string gene;
std::sort( feats.begin(), feats.end(),
[]( const GenomicFeature<T> & a, const GenomicFeature<T> & b) -> bool {
return a.sattr.transcript_id < b.sattr.transcript_id;
} );
std::string currentTranscript = "";
for ( auto & feat : feats ) {
auto &gene = feat.sattr.gene_id;
auto &transcript = feat.sattr.transcript_id;
if ( transcript != currentTranscript ) {
auto geneIt = geneNameToID.find(gene);
size_t geneID = 0;
if ( geneIt == geneNameToID.end() ) {
// If we haven't seen this gene yet, give it a new ID
geneNameToID[gene] = geneCounter;
geneID = geneCounter;
geneNames.push_back(gene);
++geneCounter;
} else {
// Otherwise lookup the ID
geneID = geneIt->second;
}
transcriptNames.push_back(transcript);
t2g.push_back(geneID);
//++transcriptID;
currentTranscript = transcript;
}
}
return TranscriptGeneMap(transcriptNames, geneNames, t2g);
}
inline
std::vector< fvar<T> >
sort_desc(std::vector< fvar<T> > xs) {
std::sort(xs.begin(), xs.end(), std::greater< fvar<T> >());
return xs;
}
TyErrorId processWithLock(CAS &tcas, ResultSpecification const &res_spec)
{
MEASURE_TIME;
outInfo("process begins");
rs::SceneCas cas(tcas);
rs::Scene scene = cas.getScene();
cas.get(VIEW_CLOUD, *cloud);
cas.get(VIEW_COLOR_IMAGE, color);
cas.get(VIEW_DEPTH_IMAGE, depth);
cas.get(VIEW_CAMERA_INFO, cameraInfo);
indices->clear();
indices->reserve(cloud->points.size());
camToWorld.setIdentity();
if(scene.viewPoint.has())
{
rs::conversion::from(scene.viewPoint.get(), camToWorld);
}
else
{
outWarn("No camera to world transformation, no further processing!");
throw rs::FrameFilterException();
}
worldToCam = tf::StampedTransform(camToWorld.inverse(), camToWorld.stamp_, camToWorld.child_frame_id_, camToWorld.frame_id_);
computeFrustum();
//default place to look for objects is counter tops except if we got queried for some different place
//message comes from desigantor and is not the same as the entries from the semantic map so we need
//to transform them
rs::Query qs = rs::create<rs::Query>(tcas);
std::vector<std::string> regionsToLookAt;
regionsToLookAt.assign(defaultRegions.begin(),defaultRegions.end());
regions.clear();
if(cas.getFS("QUERY", qs))
{
outWarn("loaction set in query: " << qs.location());
if(std::find(defaultRegions.begin(), defaultRegions.end(), qs.location()) == std::end(defaultRegions) && qs.location()!="")
{
regionsToLookAt.clear();
regionsToLookAt.push_back(qs.location());
}
}
if(regions.empty())
{
std::vector<rs::SemanticMapObject> semanticRegions;
getSemanticMapEntries(cas, regionsToLookAt, semanticRegions);
regions.resize(semanticRegions.size());
for(size_t i = 0; i < semanticRegions.size(); ++i)
{
Region ®ion = regions[i];
region.width = semanticRegions[i].width();
region.depth = semanticRegions[i].depth();
region.height = semanticRegions[i].height();
region.name = semanticRegions[i].name();
rs::conversion::from(semanticRegions[i].transform(), region.transform);
}
}
for(size_t i = 0; i < regions.size(); ++i)
{
if(frustumCulling(regions[i]) || !frustumCulling_)
{
outInfo("region inside frustum: " << regions[i].name);
filterRegion(regions[i]);
}
else
{
outInfo("region outside frustum: " << regions[i].name);
}
}
pcl::ExtractIndices<PointT> ei;
ei.setKeepOrganized(true);
ei.setIndices(indices);
ei.filterDirectly(cloud);
cas.set(VIEW_CLOUD, *cloud);
if(changeDetection && !indices->empty())
{
++frames;
if(lastImg.empty())
{
lastMask = cv::Mat::ones(color.rows, color.cols, CV_8U);
lastImg = cv::Mat::zeros(color.rows, color.cols, CV_32FC4);
}
uint32_t secondsPassed = camToWorld.stamp_.sec - lastTime.sec;
bool change = checkChange() || cas.has("QUERY") || secondsPassed > timeout;
if(!change)
{
++filtered;
}
else
{
lastTime = camToWorld.stamp_;
}
outInfo("filtered frames: " << filtered << " / " << frames << "(" << (filtered / (float)frames) * 100 << "%)");
if(!change)
{
outWarn("no changes in frame detected, no further processing!");
throw rs::FrameFilterException();
}
}
return UIMA_ERR_NONE;
}
// Performs the rellocation itself
void ApplyPatches(void* ptr)
{
for(auto it = ptrs.begin(); it != ptrs.end(); ++it)
injector::WriteMemory(it->first, (uintptr_t)(ptr) + it->second, true);
}
size_t findNumberOfInversions(std::vector<int> vector)
{
return countInversions(vector.begin(), vector.end());
}
int main( void )
{
// Initialise GLFW
if( !glfwInit() )
{
fprintf( stderr, "Failed to initialize GLFW\n" );
return -1;
}
glfwWindowHint(GLFW_SAMPLES, 4);
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
// Open a window and create its OpenGL context
window = glfwCreateWindow( 1024, 768, "Tutorial 08 - Basic Shading", NULL, NULL);
if( window == NULL ){
fprintf( stderr, "Failed to open GLFW window.\n" );
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
// Initialize GLEW
if (glewInit() != GLEW_OK) {
fprintf(stderr, "Failed to initialize GLEW\n");
return -1;
}
// Ensure we can capture the escape key being pressed below
glfwSetInputMode(window, GLFW_STICKY_KEYS, GL_TRUE);
glfwSetCursorPos(window, 1024/2, 768/2);
// Dark blue background
glClearColor(0.0f, 0.0f, 0.4f, 0.0f);
// Enable depth test
glEnable(GL_DEPTH_TEST);
// Accept fragment if it closer to the camera than the former one
glDepthFunc(GL_LESS);
// Cull triangles which normal is not towards the camera
glDisable(GL_CULL_FACE);
// Create and compile our GLSL program from the shaders
GLuint programID = LoadShaders( "StandardShading.vertexshader", "StandardShading.fragmentshader" );
// Get a handle for our "MVP" uniform
GLuint MatrixID = glGetUniformLocation(programID, "MVP");
GLuint ViewMatrixID = glGetUniformLocation(programID, "V");
GLuint ModelMatrixID = glGetUniformLocation(programID, "M");
// Get a handle for our buffers
GLuint vertexPosition_modelspaceID = glGetAttribLocation(programID, "vertexPosition_modelspace");
GLuint vertexUVID = glGetAttribLocation(programID, "vertexUV");
GLuint vertexNormal_modelspaceID = glGetAttribLocation(programID, "vertexNormal_modelspace");
// Load the texture
// GLuint Texture = loadDDS("uvmap.DDS");
GLuint Texture = loadBMP_custom("floor.bmp");
// Get a handle for our "myTextureSampler" uniform
GLuint TextureID = glGetUniformLocation(programID, "myTextureSampler");
// Read our .obj file
bool res = loadOBJ("cube_floor.obj", cube_vertices, cube_uvs, cube_normals);
// Load it into a VBO
resetMap();
// Get a handle for our "LightPosition" uniform
glUseProgram(programID);
GLuint LightID = glGetUniformLocation(programID, "LightPosition_worldspace");
// GLuint LightID2 = glGetUniformLocation(programID, "LightPosition2_worldspace");
loadChest();
float rotX = 0.f;
do{
// Clear the screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Use our shader
glUseProgram(programID);
// Compute the MVP matrix from keyboard and mouse input
computeMatricesFromInputs(mapArray, mapSize);
// Check for treasure!
int foundChestId = findChest(spawnedChests, getCamPos());
if(foundChestId >= 0){
// printf("FOUND CHEST ID %d\n", foundChestId);
spawnedChests.erase(spawnedChests.begin() + foundChestId);
if(spawnedChests.size() > 0)
printf("You have scored! Only %d more chests to find!\n", (int) spawnedChests.size());
else {
mapSize += 2;
printf("You have cleared this phase, new map size of %dx%d!!!\n", mapSize, mapSize);
resetMap();
}
}
glm::mat4 ProjectionMatrix = getProjectionMatrix();
// glm::mat4 ProjectionMatrix = glm::mat4(1);
// glm::mat4 ViewMatrix = glm::lookAt(
// glm::vec3(0), // Camera is here
// chestPos, // and looks here : at the same position, plus "direction"
// glm::vec3(0,1,0) // Head is up (set to 0,-1,0 to look upside-down)
// );
glm::mat4 ViewMatrix = getViewMatrix();
glm::mat4 ModelMatrix = glm::mat4(1);
double xpos, ypos;
glfwGetCursorPos(window, &xpos, &ypos);
glm::mat4 MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
// Send our transformation to the currently bound shader,
// in the "MVP" uniform
glUniformMatrix4fv(MatrixID, 1, GL_FALSE, &MVP[0][0]);
glUniformMatrix4fv(ModelMatrixID, 1, GL_FALSE, &ModelMatrix[0][0]);
glUniformMatrix4fv(ViewMatrixID, 1, GL_FALSE, &ViewMatrix[0][0]);
// glm::vec3 lightPos = glm::vec3(-15,-10,0);
glm::vec3 lightPos = getCamPos();
glUniform3f(LightID, lightPos.x, lightPos.y, lightPos.z);
// glm::vec3 lightPos2 = glm::vec3(0,0,10);
// glUniform3f(LightID2, lightPos2.x, lightPos2.y, lightPos2.z);
// Bind our texture in Texture Unit 0
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, Texture);
// Set our "myTextureSampler" sampler to user Texture Unit 0
glUniform1i(TextureID, 0);
// 1rst attribute buffer : vertices
glEnableVertexAttribArray(vertexPosition_modelspaceID);
glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
glVertexAttribPointer(
vertexPosition_modelspaceID, // The attribute we want to configure
3, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// 2nd attribute buffer : UVs
glEnableVertexAttribArray(vertexUVID);
glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
glVertexAttribPointer(
vertexUVID, // The attribute we want to configure
2, // size : U+V => 2
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// 3rd attribute buffer : normals
glEnableVertexAttribArray(vertexNormal_modelspaceID);
glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
glVertexAttribPointer(
vertexNormal_modelspaceID, // The attribute we want to configure
3, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// Draw the triangles !
glDrawArrays(GL_TRIANGLES, 0, map_vertices.size() );
// glDrawArrays(GL_TRIANGLES, 0, ChestNumVerts );
///////////////////////////////////////////////
for (std::vector<SpawnedChest>::iterator i = spawnedChests.begin(); i != spawnedChests.end(); ++i)
{
ModelMatrix = getChestMatrix(&(*i).rotation, (*i).position);
MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
// Send our transformation to the currently bound shader,
// in the "MVP" uniform
glUniformMatrix4fv(MatrixID, 1, GL_FALSE, &MVP[0][0]);
glUniformMatrix4fv(ModelMatrixID, 1, GL_FALSE, &ModelMatrix[0][0]);
glUniformMatrix4fv(ViewMatrixID, 1, GL_FALSE, &ViewMatrix[0][0]);
renderChest(programID);
}
//////////////////////////////////////////////
glDisableVertexAttribArray(vertexPosition_modelspaceID);
glDisableVertexAttribArray(vertexUVID);
glDisableVertexAttribArray(vertexNormal_modelspaceID);
// Swap buffers
glfwSwapBuffers(window);
glfwPollEvents();
} // Check if the ESC key was pressed or the window was closed
while( glfwGetKey(window, GLFW_KEY_ESCAPE ) != GLFW_PRESS &&
glfwWindowShouldClose(window) == 0 );
// Cleanup VBO and shader
glDeleteBuffers(1, &vertexbuffer);
glDeleteBuffers(1, &uvbuffer);
glDeleteBuffers(1, &normalbuffer);
glDeleteProgram(programID);
glDeleteTextures(1, &Texture);
// Close OpenGL window and terminate GLFW
glfwTerminate();
return 0;
}
template <typename PointT> void
pcl::people::HeadBasedSubclustering<PointT>::subcluster (std::vector<pcl::people::PersonCluster<PointT> >& clusters)
{
// Check if all mandatory variables have been set:
if (std::isnan(sqrt_ground_coeffs_))
{
PCL_ERROR ("[pcl::people::pcl::people::HeadBasedSubclustering::subcluster] Floor parameters have not been set or they are not valid!\n");
return;
}
if (cluster_indices_.empty ())
{
PCL_ERROR ("[pcl::people::pcl::people::HeadBasedSubclustering::subcluster] Cluster indices have not been set!\n");
return;
}
if (cloud_ == nullptr)
{
PCL_ERROR ("[pcl::people::pcl::people::HeadBasedSubclustering::subcluster] Input cloud has not been set!\n");
return;
}
// Person clusters creation from clusters indices:
for(std::vector<pcl::PointIndices>::const_iterator it = cluster_indices_.begin(); it != cluster_indices_.end(); ++it)
{
pcl::people::PersonCluster<PointT> cluster(cloud_, *it, ground_coeffs_, sqrt_ground_coeffs_, head_centroid_, vertical_); // PersonCluster creation
clusters.push_back(cluster);
}
// Remove clusters with too high height from the ground plane:
std::vector<pcl::people::PersonCluster<PointT> > new_clusters;
for(size_t i = 0; i < clusters.size(); i++) // for every cluster
{
if (clusters[i].getHeight() <= max_height_)
new_clusters.push_back(clusters[i]);
}
clusters = new_clusters;
new_clusters.clear();
// Merge clusters close in floor coordinates:
mergeClustersCloseInFloorCoordinates(clusters, new_clusters);
clusters = new_clusters;
std::vector<pcl::people::PersonCluster<PointT> > subclusters;
int cluster_min_points_sub = int(float(min_points_) * 1.5);
// int cluster_max_points_sub = max_points_;
// create HeightMap2D object:
pcl::people::HeightMap2D<PointT> height_map_obj;
height_map_obj.setGround(ground_coeffs_);
height_map_obj.setInputCloud(cloud_);
height_map_obj.setSensorPortraitOrientation(vertical_);
height_map_obj.setMinimumDistanceBetweenMaxima(heads_minimum_distance_);
for(typename std::vector<pcl::people::PersonCluster<PointT> >::iterator it = clusters.begin(); it != clusters.end(); ++it) // for every cluster
{
float height = it->getHeight();
int number_of_points = it->getNumberPoints();
if(height > min_height_ && height < max_height_)
{
if (number_of_points > cluster_min_points_sub) // && number_of_points < cluster_max_points_sub)
{
// Compute height map associated to the current cluster and its local maxima (heads):
height_map_obj.compute(*it);
if (height_map_obj.getMaximaNumberAfterFiltering() > 1) // if more than one maximum
{
// create new clusters from the current cluster and put corresponding indices into sub_clusters_indices:
createSubClusters(*it, height_map_obj.getMaximaNumberAfterFiltering(), height_map_obj.getMaximaCloudIndicesFiltered(), subclusters);
}
else
{ // Only one maximum --> copy original cluster:
subclusters.push_back(*it);
}
}
else
{
// Cluster properties not good for sub-clustering --> copy original cluster:
subclusters.push_back(*it);
}
}
}
clusters = subclusters; // substitute clusters with subclusters
}
bool CompareMetric::evaluate_with_Hessian( PatchData& pd,
size_t handle,
double& value,
std::vector<size_t>& indices,
std::vector<Vector3D>& gradient,
std::vector<Matrix3D>& Hessian,
MsqError& err )
{
double m2val;
bool r1, r2;
m2Handles.clear();
m2Grad.clear();
m2Hess.clear();
r1 = metric1->evaluate_with_Hessian( pd, handle, value, indices, gradient, Hessian, err ); MSQ_ERRZERO(err);
r2 = metric2->evaluate_with_Hessian( pd, handle, m2val, m2Handles, m2Grad, m2Hess, err ); MSQ_ERRZERO(err);
if (r1 != r2 || fabs(value - m2val) > epsilon) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned different values for handle %lu in "
"evaluate_with_Hessian:\n"
"\t%s %f vs. %s %f\n", (unsigned long)handle,
r1?"true":"false",value,r2?"true":"false",m2val);
}
else {
std::vector<size_t>::const_iterator i, j;
std::vector<Vector3D>::const_iterator r, s;
int grad_diff = 0, hess_diff = 0;
bool same = (indices.size() == m2Handles.size());
std::sort( m2Handles.begin(), m2Handles.end() );
for (i = indices.begin(); i != indices.end(); ++i) {
j = std::lower_bound( m2Handles.begin(), m2Handles.end(), *i );
if (j == m2Handles.end() || *j != *i) {
same = false;
continue;
}
r = gradient.begin() + (i - indices.begin());
s = m2Grad.begin() + (j - m2Handles.begin());
if (!equal(*r,*s)) {
++grad_diff;
// call again for so debugger can step into it after failure is found
std::vector<size_t> i2;
std::vector<Vector3D> g2;
std::vector<Matrix3D> h2;
metric2->evaluate_with_Hessian(pd, handle, m2val, i2, g2, h2, err );
}
}
if (!same) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned incompatible lists of vertex indices"
" for handle %lu in evaluate_with_Hessian\n.",
(unsigned long)handle );
}
else if (grad_diff) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned different gradient vectors for "
" %d of %u vertices for handle %lu in "
"evaluate_with_Hessian\n.",
grad_diff, (unsigned)gradient.size(),
(unsigned long)handle );
}
else {
size_t row, col, row2, col2, idx, idx2;
for (row = idx = 0; row < indices.size(); ++row) {
row2 = std::lower_bound( m2Handles.begin(), m2Handles.end(), indices[row] ) - m2Handles.begin();
for (col = row; col < indices.size(); ++col, ++idx) {
col2 = std::lower_bound( m2Handles.begin(), m2Handles.end(), indices[col] ) - m2Handles.begin();
if (row2 <= col2) {
idx2 = indices.size()*row2 - row2*(row2+1)/2 + col2;
if (!equal(Hessian[idx], m2Hess[idx2]))
++hess_diff;
}
else {
idx2 = indices.size()*col2 - col2*(col2+1)/2 + row2;
if (!equal(Hessian[idx], transpose(m2Hess[idx2])))
++hess_diff;
}
}
}
if (hess_diff) {
MSQ_SETERR(err)(MsqError::INVALID_STATE,
"Metrics returned different Hessian blocks for "
" %d of %u vertices for handle %lu in "
"evaluate_with_Hessian\n.",
hess_diff, (unsigned)Hessian.size(),
(unsigned long)handle );
}
}
}
return r1 && !err;
}
bool SHADER_GLSL::Load(const std::string & vertex_filename, const std::string & fragment_filename, const std::vector <std::string> & preprocessor_defines, std::ostream & info_output, std::ostream & error_output)
{
assert(GLEW_ARB_shading_language_100);
Unload();
string vertexshader_source = UTILS::LoadFileIntoString(vertex_filename, error_output);
string fragmentshader_source = UTILS::LoadFileIntoString(fragment_filename, error_output);
assert(!vertexshader_source.empty());
assert(!fragmentshader_source.empty());
//prepend #define values
for (std::vector <std::string>::const_iterator i = preprocessor_defines.begin(); i != preprocessor_defines.end(); ++i)
{
vertexshader_source = "#define " + *i + "\n" + vertexshader_source;
fragmentshader_source = "#define " + *i + "\n" + fragmentshader_source;
}
//prepend #version
vertexshader_source = "#version 120\n" + vertexshader_source;
fragmentshader_source = "#version 120\n" + fragmentshader_source;
//create shader objects
program = glCreateProgramObjectARB();
vertex_shader = glCreateShaderObjectARB(GL_VERTEX_SHADER);
fragment_shader = glCreateShaderObjectARB(GL_FRAGMENT_SHADER);
//load shader sources
GLcharARB * vertshad = new GLcharARB[vertexshader_source.length()+1];
strcpy(vertshad, vertexshader_source.c_str());
const GLcharARB * vertshad2 = vertshad;
glShaderSource(vertex_shader, 1, &vertshad2, NULL);
delete [] vertshad;
GLcharARB * fragshad = new GLcharARB[fragmentshader_source.length()+1];
strcpy(fragshad, fragmentshader_source.c_str());
const GLcharARB * fragshad2 = fragshad;
glShaderSource(fragment_shader, 1, &fragshad2, NULL);
delete [] fragshad;
//compile the shaders
GLint vertex_compiled(0);
GLint fragment_compiled(0);
glCompileShader(vertex_shader);
PrintShaderLog(vertex_shader, vertex_filename, info_output);
glCompileShader(fragment_shader);
PrintShaderLog(fragment_shader, fragment_filename, info_output);
glGetObjectParameterivARB(vertex_shader, GL_OBJECT_COMPILE_STATUS_ARB, &vertex_compiled);
glGetObjectParameterivARB(fragment_shader, GL_OBJECT_COMPILE_STATUS_ARB, &fragment_compiled);
//attach shader objects to the program object
glAttachObjectARB(program, vertex_shader);
glAttachObjectARB(program, fragment_shader);
//link the program
glLinkProgram(program);
GLint program_linked(0);
glGetProgramiv(program, GL_LINK_STATUS, &program_linked);
const bool success = (vertex_compiled && fragment_compiled && program_linked);
//spit out any error info
PrintProgramLog(program, vertex_filename + " and " + fragment_filename, info_output);
if (!success)
{
error_output << "Shader compilation failure: " + vertex_filename + " and " + fragment_filename << endl << endl;
error_output << "Vertex shader:" << endl;
PrintWithLineNumbers(error_output, vertexshader_source);
error_output << endl;
error_output << "Fragment shader:" << endl;
PrintWithLineNumbers(error_output, fragmentshader_source);
error_output << endl;
}
else
{
//need to enable to be able to set passed variable info
glUseProgramObjectARB(program);
//set passed variable information for tus
for (int i = 0; i < 16; i++)
{
stringstream tustring;
tustring << "tu" << i;
int tu_loc;
tu_loc = glGetUniformLocation(program, (tustring.str()+"_2D").c_str());
if (tu_loc >= 0) glUniform1i(tu_loc, i);
tu_loc = glGetUniformLocation(program, (tustring.str()+"_2DRect").c_str());
if (tu_loc >= 0) glUniform1i(tu_loc, i);
tu_loc = glGetUniformLocation(program, (tustring.str()+"_cube").c_str());
if (tu_loc >= 0)
{
glUniform1i(tu_loc, i);
}
}
}
loaded = success;
return success;
}
/** @see molecule.h */
void Molecule_delete(int molecule) {
molecules.erase(molecules.begin() + molecule - OFFSET);
}
inline void save(
Archive & ar,
const STD::vector<bool, Allocator> &t,
const unsigned int /* file_version */
){
// record number of elements
unsigned int count = t.size();
ar << BOOST_SERIALIZATION_NVP(count);
STD::vector<bool>::const_iterator it = t.begin();
while(count-- > 0){
bool tb = *it++;
ar << boost::serialization::make_nvp("item", tb);
}
}
