void EraserWidget::continousRemoveSlot()
{
Transform3D rMd = mVisualizationService->getGroup(0)->getOptions().mPickerGlyph->get_rMd();
//Transform3D rMd = mVisualizationService->getViewGroupDatas().front()->getData()->getOptions().mPickerGlyph->get_rMd();
Vector3D c(mSphere->GetCenter());
c = rMd.coord(c);
double r = mSphere->GetRadius();
// optimization: dont remove if idle
if (similar(mPreviousCenter, c) && similar(mPreviousRadius, r))
return;
this->removeSlot();
}
void VideoGraphics::updatePlaneSourceBounds()
{
// set the planesource where we have no ProbeDefinition.
// TODO dont do this when planesource is not part of pipeline.
DoubleBoundingBox3D bounds(mDataRedirecter->GetOutput()->GetBounds());
if (!similar(bounds.range()[0], 0.0) || !similar(bounds.range()[1], 0.0))
{
mPlaneSource->SetOrigin(bounds.corner(0,0,0).begin());
mPlaneSource->SetPoint1(bounds.corner(1,0,0).begin());
mPlaneSource->SetPoint2(bounds.corner(0,1,0).begin());
mPlaneSource->GetOutput()->GetPointData()->Modified();
mPlaneSource->GetOutput()->Modified();
}
}
void Image::setCroppingBox(const DoubleBoundingBox3D& bb_d)
{
if (similar(mCroppingBox_d, bb_d))
return;
mCroppingBox_d = bb_d;
emit cropBoxChanged();
}
void CameraControl::setStandard3DViewActionSlot()
{
QAction* action = dynamic_cast<QAction*> (sender());
if (!action)
return;
Vector3D viewDirection = Vector3D::fromString(action->data().toString());
vtkRendererPtr renderer = this->getRenderer();
if (!renderer)
return;
vtkCameraPtr camera = this->getCamera();
renderer->ResetCamera();
Vector3D focus(camera->GetFocalPoint());
Vector3D pos = focus - 500 * viewDirection;
Vector3D vup(0, 0, 1);
//Vector3D dir = (focus-direction).normal();
Vector3D left = cross(vup, viewDirection);
if (similar(left.length(), 0.0))
left = Vector3D(1, 0, 0);
vup = cross(viewDirection, left).normal();
camera->SetPosition(pos.begin());
camera->SetViewUp(vup.begin());
renderer->ResetCamera(); // let vtk do the zooming base work
camera->Dolly(1.5); // zoom in a bit more than the default vtk value
renderer->ResetCameraClippingRange();
}
void CmSaliencyRC::GetHC(CMat &binColor3f, CMat &colorNums1i, Mat &_colorSal)
{
Mat weight1f;
normalize(colorNums1i, weight1f, 1, 0, NORM_L1, CV_32F);
int binN = binColor3f.cols;
_colorSal = Mat::zeros(1, binN, CV_32F);
float* colorSal = (float*)(_colorSal.data);
vector<vector<CostfIdx>> similar(binN); // Similar color: how similar and their index
Vec3f* color = (Vec3f*)(binColor3f.data);
float *w = (float*)(weight1f.data);
for (int i = 0; i < binN; i++){
vector<CostfIdx> &similari = similar[i];
similari.push_back(make_pair(0.f, i));
for (int j = 0; j < binN; j++){
if (i == j)
continue;
float dij = vecDist<float, 3>(color[i], color[j]);
similari.push_back(make_pair(dij, j));
colorSal[i] += w[j] * dij;
}
sort(similari.begin(), similari.end());
}
SmoothSaliency(_colorSal, 0.25f, similar);
}
void CameraData::parseXml(QDomNode dataNode)
{
Vector3D position = Vector3D::fromString(dataNode.namedItem("position").toElement().text());
Vector3D focalPoint = Vector3D::fromString(dataNode.namedItem("focalPoint").toElement().text());
Vector3D viewUp = Vector3D::fromString(dataNode.namedItem("viewUp").toElement().text());
double nearClip = dataNode.namedItem("nearClip").toElement().text().toDouble();
double farClip = dataNode.namedItem("farClip").toElement().text().toDouble();
double parallelScale = dataNode.namedItem("parallelScale").toElement().text().toDouble();
if (similar(viewUp.length(), 0.0))
return; // ignore reading if undefined data
double LARGE_NUMBER = 1.0E6; // corresponding to a distance of 1km - unphysical for human-sized data
if ((position-focalPoint).length() > LARGE_NUMBER)
return;
if (focalPoint.length() > LARGE_NUMBER)
return;
if (fabs(parallelScale) > LARGE_NUMBER)
return;
this->getCamera();
mCamera->SetClippingRange(nearClip, farClip);
mCamera->SetPosition(position.begin());
mCamera->SetFocalPoint(focalPoint.begin());
mCamera->ComputeViewPlaneNormal();
mCamera->SetViewUp(viewUp.begin());
mCamera->SetParallelScale(parallelScale);
}
void Saliency::GetHC(const Mat &binColor3f, const Mat &weight1f, Mat &_colorSal)
{
int binN = binColor3f.cols;
_colorSal = Mat::zeros(1, binN, CV_32F);
float* colorSal = (float*)(_colorSal.data);
vector<vector<CostfIdx>> similar(binN); // Similar color: how similar and their index
Vec3f* color = (Vec3f*)(binColor3f.data);
float *w = (float*)(weight1f.data);
for (int i = 0; i < binN; i++)
{
vector<CostfIdx> &similari = similar[i];
similari.push_back(make_pair(0.f, i));
for (int j = 0; j < binN; j++)
{
if (i == j)
continue;
float dij = vecDist3<float>(color[i], color[j]);
similari.push_back(make_pair(dij, j));
colorSal[i] += w[j] * dij;
}
sort(similari.begin(), similari.end());
}
SmoothSaliency(binColor3f, _colorSal, 4.0f, similar);
}
void CustomMetric::updateTexture(MeshPtr model, Transform3D rMrr)
{
if (!model)
return;
if (!this->getTextureFollowTool() || !model->hasTexture())
return;
// special case:
// Project tool position down to the model, then set that position as
// the texture x pos.
Transform3D rMt = mSpaceProvider->getActiveToolTipTransform(CoordinateSystem::reference());
Transform3D rMd = rMrr * model->get_rMd();
Vector3D t_r = rMt.coord(Vector3D::Zero());
Vector3D td_r = rMt.vector(Vector3D::UnitZ());
DoubleBoundingBox3D bb_d = model->boundingBox();
Vector3D bl = bb_d.bottomLeft();
Vector3D tr = bb_d.topRight();
Vector3D c = (bl+tr)/2;
Vector3D x_min_r(c[0], bl[1], c[2]);
Vector3D x_max_r(c[0], tr[1], c[2]);
x_min_r = rMd.coord(x_min_r);
x_max_r = rMd.coord(x_max_r);
double t_x = dot(t_r, td_r);
double bbmin_x = dot(x_min_r, td_r);
double bbmax_x = dot(x_max_r, td_r);
double range = bbmax_x-bbmin_x;
if (similar(range, 0.0))
range = 1.0E-6;
double s = (t_x-bbmin_x)/range;
model->getTextureData().getPositionY()->setValue(s);
}
/**
* This is called every frame. We use this as an oportunity to RedrawWindow()
* the control if the user has moved.
*/
/*afx_msg*/ void ChunkWatchControl::OnUpdateControl()
{
// Don't update to frequently.
if (lastUpdateTime_ != 0)
{
uint64 now = timestamp();
if ((now - lastUpdateTime_)/(double)stampsPerSecond() < UPDATE_DELTA)
{
return;
}
}
lastUpdateTime_ = timestamp();
Matrix view = WorldEditorCamera::instance().currentCamera().view();
view.invert();
Chunk *workingChunk = WorldManager::instance().workingChunk();
if
(
!similar(view, drawPos_, MATRICES_COMP_EPSILON)
||
workingChunk != lastWorkingChunk_
)
{
RedrawWindow();
}
}
void ToolImpl::setTooltipOffset(double val)
{
if (similar(val, mTooltipOffset))
return;
mTooltipOffset = val;
emit tooltipOffset(mTooltipOffset);
}
std::vector<std::vector<T>> group(std::vector<T> v, F similar) {
UnionFind uf(v.size());
for (size_t i = 0; i < v.size(); ++i) {
for (size_t j = i + 1; j < v.size(); ++j) {
if (similar(v[i], v[j])) {
uf.join(i, j);
}
}
}
std::vector<int> idxmap(v.size(), -1);
std::vector<std::vector<T>> vs;
for (size_t i = 0; i < v.size(); ++i) {
size_t set = uf.find(i);
int group = idxmap[set];
if (group < 0) {
idxmap[set] = vs.size();
vs.emplace_back(1, v[i]);
} else {
vs[group].push_back(v[i]);
}
}
return vs;
}
void IgstkTool::processReceivedTransformResult(igstk::CoordinateSystemTransformToResult result)
{
if (!this->validReferenceForResult(result))
return;
// emit even if not visible: need error metadata
igstk::NDITracker::TrackingSampleInfo sampleInfo = this->getSampleInfo();
// ignore duplicate positions
if (similar(mLatestEmittedTimestamp, sampleInfo.m_TimeStamp,1.0E-3))
{
return;
}
mLatestEmittedTimestamp = sampleInfo.m_TimeStamp;
QDomDocument doc;
QDomElement root = doc.createElement("info");
doc.appendChild(root);
sampleInfo2xml(sampleInfo, root);
ToolPositionMetadata metadata;
metadata.mData = doc.toString();
igstk::Transform transform = result.GetTransform();
Transform3D prMt = igstk2Transform3D(transform);
double timestamp = transform.GetStartTime();
emit toolTransformAndTimestamp(prMt, timestamp, metadata);
}
void SliceProxy::changed()
{
SlicePlane plane = mCutplane->getPlane();
if (similar(plane, mLastEmittedSlicePlane))
return;
mLastEmittedSlicePlane = plane;
emit transformChanged(get_sMr());
}
void ProbeImpl::setSoundSpeedCompensationFactor(double factor)
{
if(similar(mSoundSpeedCompensationFactor, factor))
return;
mSoundSpeedCompensationFactor = factor;
for (std::map<QString, ProbeDefinition>::iterator iter=mProbeData.begin(); iter!=mProbeData.end(); ++iter)
iter->second.applySoundSpeedCompensationFactor(mSoundSpeedCompensationFactor);
emit sectorChanged();
}
bool DoublePropertyShadingDiffuse::setValue(double val)
{
if (!mImage)
return false;
if (similar(val, mImage->getShadingDiffuse()))
return false;
mImage->setShadingDiffuse(val);
return true;
}
bool DoublePropertyShadingSpecularPower::setValue(double val)
{
if (!mImage)
return false;
if (similar(val, mImage->getShadingSpecularPower()))
return false;
mImage->setShadingSpecularPower(val);
return true;
}
Vector3D DonutMetric::getDirection()
{
std::vector<Vector3D> coords = mArguments->getRefCoords();
if (coords.size()<2)
return Vector3D::UnitZ();
Vector3D diff = (coords[1]-coords[0]);
if (similar(diff.length(), 0.0))
return Vector3D(0,1,0);
return diff.normal();
}
// methods for defining and storing a cropping box. Image does not use these data, this is up to the mapper
void Image::setCropping(bool on)
{
if (mUseCropping == on)
return;
mUseCropping = on;
if (similar(mCroppingBox_d, this->getInitialBoundingBox()))
mCroppingBox_d = this->boundingBox();
emit cropBoxChanged();
}
void DecomposedTransform3D::reset(Transform3D m)
{
DecomposedTransform3D input(m);
bool eqPos = similar(input.mPos, mPos);
if (!eqPos)
{
mPos = input.mPos;
}
input.mPos = mPos;
bool eqRot = similar(input.getMatrix(), this->getMatrix());
// only reset angles if the input rotation matrix is different from the current.
if (!eqRot)
{
mAngle = input.mAngle;
m_R = input.m_R;
}
}
void CmSaliencyRC::SmoothByHist(CMat &img3f, Mat &sal1f, float delta)
{
//imshow("Before", sal1f); imshow("Src", img3f);
// Quantize colors
CV_Assert(img3f.size() == sal1f.size() && img3f.type() == CV_32FC3 && sal1f.type() == CV_32FC1);
Mat idx1i, binColor3f, colorNums1i;
int binN = Quantize(img3f, idx1i, binColor3f, colorNums1i);
//CmShow::HistBins(binColor3f, colorNums1i, "Frequency");
// Get initial color saliency
Mat _colorSal = Mat::zeros(1, binN, CV_64FC1);
int rows = img3f.rows, cols = img3f.cols;{
double* colorSal = (double*)_colorSal.data;
if (img3f.isContinuous() && sal1f.isContinuous())
cols *= img3f.rows, rows = 1;
for (int y = 0; y < rows; y++){
const int* idx = idx1i.ptr<int>(y);
const float* initialS = sal1f.ptr<float>(y);
for (int x = 0; x < cols; x++)
colorSal[idx[x]] += initialS[x];
}
const int *colorNum = (int*)(colorNums1i.data);
for (int i = 0; i < binN; i++)
colorSal[i] /= colorNum[i];
normalize(_colorSal, _colorSal, 0, 1, NORM_MINMAX, CV_32F);
}
// Find similar colors & Smooth saliency value for color bins
vector<vector<CostfIdx>> similar(binN); // Similar color: how similar and their index
Vec3f* color = (Vec3f*)(binColor3f.data);
cvtColor(binColor3f, binColor3f, CV_BGR2Lab);
for (int i = 0; i < binN; i++){
vector<CostfIdx> &similari = similar[i];
similari.push_back(make_pair(0.f, i));
for (int j = 0; j < binN; j++)
if (i != j)
similari.push_back(make_pair(vecDist<float, 3>(color[i], color[j]), j));
sort(similari.begin(), similari.end());
}
cvtColor(binColor3f, binColor3f, CV_Lab2BGR);
//CmShow::HistBins(binColor3f, _colorSal, "BeforeSmooth", true);
SmoothSaliency(colorNums1i, _colorSal, delta, similar);
//CmShow::HistBins(binColor3f, _colorSal, "AfterSmooth", true);
// Reassign pixel saliency values
float* colorSal = (float*)(_colorSal.data);
for (int y = 0; y < rows; y++){
const int* idx = idx1i.ptr<int>(y);
float* resSal = sal1f.ptr<float>(y);
for (int x = 0; x < cols; x++)
resSal[x] = colorSal[idx[x]];
}
//imshow("After", sal1f);
//waitKey(0);
}
void DecomposedTransform3D::setAngles(Vector3D xyz)
{
// std::cout << "setAngles " << xyz << std::endl;
if (!similar(xyz[0], mAngle[0]))
{
m_R = m_R * createTransformRotateX(xyz[0] - mAngle[0]);
mAngle[0] = xyz[0];
}
if (!similar(xyz[1], mAngle[1]))
{
m_R = m_R * createTransformRotateY(xyz[1] - mAngle[1]);
mAngle[1] = xyz[1];
}
if (!similar(xyz[2], mAngle[2]))
{
m_R = m_R * createTransformRotateZ(xyz[2] - mAngle[2]);
mAngle[2] = xyz[2];
}
}
void ImageParameters::alignSpacingKeepDim(Eigen::Array3d bounds)
{
for (unsigned i = 0; i < 3; ++i)
{
//Set spacing to 1 if one of the axes is degenerated
if((mDim[i] == 1) && similar(bounds[i], 0.0))
mSpacing[i] = 1;
else
mSpacing[i] = bounds[i] / double(mDim[i]-1);
}
}
/**We need this here, even if it belongs in singlelayout.
* Reason: must call setcamera after last change of size of plane actor.
* TODO fix it.
*/
void VideoFixedPlaneRep::setCamera()
{
if (!mRenderer)
return;
mViewportListener->stopListen();
vtkCamera* camera = mRenderer->GetActiveCamera();
camera->ParallelProjectionOn();
mRenderer->ResetCamera();
DoubleBoundingBox3D bounds(mRTGraphics->getActor()->GetBounds());
if (similar(bounds.range()[0], 0.0) || similar(bounds.range()[1], 0.0))
return;
double* vpRange = mRenderer->GetAspect();
double vw = vpRange[0];
double vh = vpRange[1];
double w = bounds.range()[0];
double h = bounds.range()[1];
double scale = 1;
double w_vp = vh * (w/h); // width of image in viewport space
if (w_vp > vw) // if image too wide: reduce scale
scale = w_vp/vw;
//Set camera position and focus so that it looks at the video stream center
double position[3];
camera->GetPosition(position);
position[0] = bounds.center()[0];
position[1] = bounds.center()[1];
camera->SetPosition(position);
camera->GetFocalPoint(position);
position[0] = bounds.center()[0];
position[1] = bounds.center()[1];
camera->SetFocalPoint(position);
camera->SetParallelScale(h/2*scale*1.01); // exactly fill the viewport height
mViewportListener->startListen(mRenderer);
}
void Transform3DWidget::textEditChangedSlot()
{
bool ok = false;
Transform3D M = Transform3D::fromString(mTextEdit->toPlainText(), &ok);
// ignore setting if invalid matrix or no real change done (hopefully, this allows trivial editing without text reset)
if (!ok)
return;
if (similar(M, this->getMatrixInternal()))
return;
this->setMatrixInternal(M);
}
bool operator==(const VertexData& a, const VertexData& b)
{
return (similar(a.x, b.x) && similar(a.y, b.y) && similar(a.z, b.z)
&& similar(a.nx, b.nx) && similar(a.ny, b.ny) && similar(a.nz, b.nz)
&& (a.uvs == b.uvs)
&& (a.weights == b.weights));
}
bool TemporalCalibration::checkFrameMovementQuality(std::vector<double> pos)
{
int count = 0;
for (unsigned i=0; i<pos.size(); ++i)
if (similar(pos[i], 0))
count++;
// accept if less than 20% zeros.
double error = double(count)/pos.size();
if (error > 0.05)
reportWarning(QString("Found %1 % zeros in frame movement").arg(error*100));
return error < 0.2;
}
bool similar(const Transform3D& a, const Transform3D& b, double tol)
{
boost::array<double, 16> m = a.flatten();
boost::array<double, 16> n = b.flatten();
for (int j = 0; j < 16; ++j)
{
if (!similar(n[j], m[j], tol))
{
return false;
}
}
return true;
}
void ToolImpl::set_prMt(const Transform3D& prMt, double timestamp)
{
if (mPositionHistory->count(timestamp))
{
if (similar(mPositionHistory->find(timestamp)->second, prMt))
return;
}
m_prMt = prMt;
// Store positions in history, but only if visible - the history has no concept of visibility
if (this->getVisible())
(*mPositionHistory)[timestamp] = m_prMt;
emit toolTransformAndTimestamp(m_prMt, timestamp);
}
bool Vector3DProperty::setValue(const Vector3D& val)
{
if (similar(val, mValue))
return false;
// std::cout << "set val " << " " << val << " , org=" << mValue << std::endl;
mValue = val;
mStore.writeValue(qstring_cast(val));
emit
valueWasSet();
emit
changed();
return true;
}
void CGameObject::UpdateCL ()
{
inherited::UpdateCL ();
// if (!is_ai_obstacle())
// return;
if (H_Parent())
return;
if (similar(XFORM(),m_previous_matrix,EPS))
return;
on_matrix_change (m_previous_matrix);
m_previous_matrix = XFORM();
}
