int main (int argc, char* argv[])
{
std::cerr << "This example works only with nathan.osg" << std::endl;
osg::ArgumentParser psr(&argc, argv);
osgViewer::Viewer viewer(psr);
std::string file = "nathan.osg";
if(argc >= 2)
file = psr[1];
// replace the manager
osg::Group* root = dynamic_cast<osg::Group*>(osgDB::readNodeFile(file));
if (!root) {
osg::notify(osg::FATAL) << "can't read file " << file << std::endl;
return 1;
}
osgAnimation::AnimationManagerBase* animationManager = dynamic_cast<osgAnimation::AnimationManagerBase*>(root->getUpdateCallback());
if(!animationManager)
{
osg::notify(osg::FATAL) << "Did not find AnimationManagerBase updateCallback needed to animate elements" << std::endl;
return 1;
}
osg::ref_ptr<osgAnimation::TimelineAnimationManager> tl = new osgAnimation::TimelineAnimationManager(*animationManager);
root->setUpdateCallback(tl.get());
ExampleTimelineUsage* callback = new ExampleTimelineUsage(tl.get());
root->setEventCallback(callback);
root->getUpdateCallback()->addNestedCallback(callback);
// add the state manipulator
viewer.addEventHandler( new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()) );
// add the thread model handler
viewer.addEventHandler(new osgViewer::ThreadingHandler);
// add the window size toggle handler
viewer.addEventHandler(new osgViewer::WindowSizeHandler);
// add the stats handler
viewer.addEventHandler(new osgViewer::StatsHandler);
// add the help handler
viewer.addEventHandler(new osgViewer::HelpHandler(psr.getApplicationUsage()));
// add the LOD Scale handler
viewer.addEventHandler(new osgViewer::LODScaleHandler);
// add the screen capture handler
viewer.addEventHandler(new osgViewer::ScreenCaptureHandler);
viewer.setSceneData(root);
return viewer.run();
}
void hal_interrupt_status(void)
{
int irq_status, irq_enable, timer_status, timer_value, timer_load;
HAL_READ_UINT32(CYG_DEVICE_IRQ_Status, irq_status);
HAL_READ_UINT32(CYG_DEVICE_IRQ_Enable, irq_enable);
HAL_READ_UINT32(CYG_DEVICE_TIMER_LOAD, timer_load);
HAL_READ_UINT32(CYG_DEVICE_TIMER_CURRENT, timer_value);
HAL_READ_UINT32(CYG_DEVICE_TIMER_CONTROL, timer_status);
diag_printf("Interrupt: IRQ: %x.%x, TIMER: %x.%x.%x, psr: %x\n",
irq_status, irq_enable, timer_status, timer_value,
timer_load, psr());
}
void ExpressionEvaluator2::parse() {
ExpressionASTLexer::InputStreamType
input((const ANTLR_UINT8*)expr.c_str(), ANTLR_ENC_8BIT,
expr.length(), NULL);
ExpressionASTLexer lxr(&input);
ExpressionASTParser::TokenStreamType tstream(ANTLR_SIZE_HINT, lxr.get_tokSource() );
ExpressionASTParser psr(&tstream);
psr.setSymbolTable(&st);
exprAst = psr.expr();
}
double ExpressionEvaluator::evaluateExpression() {
//std::cerr << "Expression:" << expr << std::endl;
//st.dump();
// TODO: There should be no need to recreate a new lexer and parser,
// however the reset() methods of lexer and parser do not work (yet)
// a possible solution could be to create an AST in the parser,
// and then reuse the AST during evaluation
ExpressionLexer::InputStreamType
input((const ANTLR_UINT8*)expr.c_str(), ANTLR_ENC_8BIT,
expr.length(), NULL);
ExpressionLexer lxr(&input);
ExpressionParser::TokenStreamType tstream(ANTLR_SIZE_HINT, lxr.get_tokSource() );
ExpressionParser psr(&tstream);
psr.setSymbolTable(&st);
return psr.expr();
}
bool LineExtract::ComputeLineDesc(LineFeature &lf, const cv::Mat &xGradient, const Mat &yGradient) {
assert(!xGradient.empty() && ! yGradient.empty());
lf.mDirection = lf.getGradient(xGradient, yGradient);
int s = 5 * xGradient.cols / 800.0;
double lineLen = (lf.mStartPt - lf.mEndPt).norm();
vector<vector<double>> GDM;
double step = setting::msld_sample_interval;
for (int i = 0; i * step < lineLen; ++i) {
vector<double> GDM_cols;
GDM_cols.reserve(36);
Vector2d pt = lf.mStartPt + (lf.mStartPt - lf.mEndPt) * (i * step / lineLen);
bool fail = false;
for (int j = -4; j <= 4; ++j) {
pt += j * s * lf.mDirection;
cv::Point2d cvpt(pt(0), pt(1));
cv::Point2d gd(lf.mDirection(0), lf.mDirection(1));
vector<double> psr(4);
if (computeSubPSR(xGradient, yGradient, cvpt, s, gd, psr)) {
GDM_cols.push_back(psr[0]);
GDM_cols.push_back(psr[1]);
GDM_cols.push_back(psr[2]);
GDM_cols.push_back(psr[3]);
} else {
fail = true;
break;
}
}
if (fail == true) continue;
GDM.push_back(GDM_cols);
}
cv::Mat MS(72, 1, CV_32F);
if (GDM.size() == 0) {
for (int i = 0; i < MS.rows; ++i)
MS.at<double>(i, 0) = rand(); // if not computable, assign random num
lf.mDescriptor = MS.clone();
return 0;
}
double gauss[9] = {0.24142, 0.30046, 0.35127, 0.38579, 0.39804,
0.38579, 0.35127, 0.30046, 0.24142};
for (int i = 0; i < 36; ++i) {
double sum = 0, sum2 = 0, mean, std;
for (int j = 0; j < GDM.size(); ++j) {
GDM[j][i] = GDM[j][i] * gauss[i / 4];
sum += GDM[j][i];
sum2 += GDM[j][i] * GDM[j][i];
}
mean = sum / GDM.size();
std = sqrt(sum2 / GDM.size() - mean * mean);
MS.at<double>(i, 0) = mean;
MS.at<double>(i + 36, 0) = std;
}
// normalize mean and std vector, respcectively
// LOG(INFO) << MS << endl;
// if ((cv::norm(MS.rowRange(36, 72)) < 1e-5) || (cv::norm(MS.rowRange(0, 36)) < 1e-5)) {
// lf.mDescriptor = Mat();
// return 0;
// }
// MS.rowRange(0, 36) = MS.rowRange(0, 36) / cv::norm(MS.rowRange(0, 36));
// MS.rowRange(36, 72) = MS.rowRange(36, 72) / cv::norm(MS.rowRange(36, 72));
// for (int i = 0; i < MS.rows; ++i) {
// if (MS.at<double>(i, 0) > 0.4)
// MS.at<double>(i, 0) = 0.4;
// }
// MS = MS / cv::norm(MS);
// lf.mDescriptor = MS.clone();
return 1;
}
int main (int argc, char* argv[])
{
std::cerr << "This example works better with nathan.osg" << std::endl;
osg::ArgumentParser psr(&argc, argv);
osgViewer::Viewer viewer(psr);
bool hardware = true;
int maxChar = 10;
while (psr.read("--software")) { hardware = false; }
while (psr.read("--number", maxChar)) {}
osg::ref_ptr<osg::Node> node = osgDB::readRefNodeFiles(psr);
osg::ref_ptr<osg::Group> root = dynamic_cast<osg::Group*>(node.get());
if (!root)
{
std::cout << psr.getApplicationName() <<": No data loaded" << std::endl;
return 1;
}
{
osgAnimation::AnimationManagerBase* animationManager = dynamic_cast<osgAnimation::AnimationManagerBase*>(root->getUpdateCallback());
if(!animationManager)
{
osg::notify(osg::FATAL) << "no AnimationManagerBase found, updateCallback need to animate elements" << std::endl;
return 1;
}
}
osg::ref_ptr<osg::Group> scene = new osg::Group;
// add the state manipulator
viewer.addEventHandler( new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()) );
// add the thread model handler
viewer.addEventHandler(new osgViewer::ThreadingHandler);
// add the window size toggle handler
viewer.addEventHandler(new osgViewer::WindowSizeHandler);
// add the stats handler
viewer.addEventHandler(new osgViewer::StatsHandler);
// add the help handler
viewer.addEventHandler(new osgViewer::HelpHandler(psr.getApplicationUsage()));
// add the LOD Scale handler
viewer.addEventHandler(new osgViewer::LODScaleHandler);
// add the screen capture handler
viewer.addEventHandler(new osgViewer::ScreenCaptureHandler);
viewer.setSceneData(scene.get());
viewer.realize();
double xChar = maxChar;
double yChar = xChar * 9.0/16;
for (double i = 0.0; i < xChar; i++) {
for (double j = 0.0; j < yChar; j++) {
osg::ref_ptr<osg::Group> c = createCharacterInstance(root.get(), hardware);
osg::MatrixTransform* tr = new osg::MatrixTransform;
tr->setMatrix(osg::Matrix::translate( 2.0 * (i - xChar * .5),
0.0,
2.0 * (j - yChar * .5)));
tr->addChild(c.get());
scene->addChild(tr);
}
}
std::cout << "created " << xChar * yChar << " instance" << std::endl;
return viewer.run();
}
