int main( int argc, char *argv[] ) {
QApplication app(argc, argv);
const char *start_path = "/space/projects/2011_12_micah";
QDir xdir( start_path );
if( !xdir.exists(start_path) ) {
start_path = "";
}
std::string filename = QFileDialog::getOpenFileName(0,0,start_path, "*.jplace").toStdString();
if( filename.empty() ) {
return 0;
}
// const char *filename = "/space/projects/2011_12_micah/RAxML_portableTree.colpodea.jplace";
EPAViewerWidget evw(filename.c_str());
evw.show();
app.exec();
}
transf PositionStateEllipsoid::getCoreTran() const
{
double a = getParameter("a");
double b = getParameter("b");
double c = getParameter("c");
double beta = readVariable("beta");
double gamma = readVariable("gamma");
double tau = readVariable("tau");
double distance = readVariable("dist");
double px,py,pz;
px = a * cos(beta) * cos(gamma);
py = b * cos(beta) * sin(gamma);
pz = c * sin(beta);
//compute normal direction - for some reason this always points INSIDE the ellipsoid
vec3 n1( -a*sin(beta)*cos(gamma), -b*sin(beta)*sin(gamma), c*cos(beta) );
vec3 n2( -a*cos(beta)*sin(gamma), b*cos(beta)*cos(gamma), 0 );
vec3 normal = normalise(n1) * normalise(n2);
vec3 xdir(1,0,0);
vec3 ydir = normal * normalise(xdir);
xdir = ydir * normal;
mat3 r(xdir,ydir,normal);
transf handTran = transf(r, vec3(px,py,pz) - distance * normal);
Quaternion zrot(tau, vec3(0,0,1));
handTran = transf(zrot, vec3(0,0,0) ) * handTran;
return mHand->getApproachTran().inverse() * handTran;
//So: hand tranform is: move onto the ellipsoid and rotate z axis in normal direction
// --> hand approach transform inverted to get to hand origin
}
void Train::updateOrientate(const IG::Vector2& p0,const IG::Vector2& p1)
{
IG::Vector2 dir=(p1-p0);
dir.normalise();
IG::Vector2 xdir(1.0f,0.0f);
float leng=dir.length();
leng=1.0f/leng;
float angle=acos(dir.x);
angle*=(180.0f/3.1415926f);
if(m_pSprite!=NULL)
{
float currentAngle=m_pSprite->getRotation();
angle=currentAngle+(angle-currentAngle)*0.05f;
m_pSprite->setRotation(angle);
}
}
bool AuthorizationManager::local_checkActive(QString user){
//Check for X Sessions first (don't show up with normal login verification tools)
QDir xdir("/tmp/.X11-unix");
qDebug() << "Check local user activity:" << user;
if(xdir.exists() && !xdir.entryList(QDir::System | QDir::NoDotAndDotDot, QDir::Name).isEmpty() ){
//Found an active graphical session - check for active processes associated with the user
QString res = sysadm::General::RunCommand("ps",QStringList() << "-U" << user << "-x");
//qDebug() << "PS list length:" << res.split("\n").length();
return (res.split("\n").length()>2); //more than 1 active process for this user (labels + shell/desktop + tool used to communicate with sysadm)
}else{
//No X sessions - look for normal login sessions
QStringList active = sysadm::General::RunCommand("users").section("\n",0,0).split(" ");
//qDebug() << "active users" << active;
return active.contains(user);
}
}
//|
/// void LC3EnemyLook(struct SquareData *felt, struct LC3Brain *mem)
void LC3EnemyLook(struct SquareData *felt, struct LC3Brain *mem) {
int f;
/* Bask fjender !! */
if (felt[1].Team+felt[2].Team+felt[3].Team+felt[4].Team) {
for (f = 1 ; f <= 4 ; f++) {
if (felt[f].Team) {
mem->xdest = mem->xpos+xdir(f);
mem->ydest = mem->ypos+ydir(f);
mem->status = LC_Status_Searching;
mem->num = LCDanger;
break;
}
}
}
}
void CMatrix44f::SetUpVector(float3& up)
{
float3 zdir(m[8],m[9],m[10]);
float3 xdir(zdir.cross(up));
xdir.Normalize();
zdir=up.cross(xdir);
m[0]=xdir.x;
m[1]=xdir.y;
m[2]=xdir.z;
m[4]=up.x;
m[5]=up.y;
m[6]=up.z;
m[8]=zdir.x;
m[9]=zdir.y;
m[10]=zdir.z;
}
/*
* Startup / Shutdown
*/
bool CThePlugin::OnStartup()
{
// Create std-data cache path
scoped_chdir xdir(this->modloader->gamepath);
{
char buf[128], data0[128];
sprintf(buf, "%s%s\\", this->modloader->cachepath, "std-data");
sprintf(data0, "%s%s\\", buf, "data_0");
this->cachePath = buf;
DestroyDirectoryA(buf);
Log("Creating data cache folder...");
MakeSureDirectoryExistA(buf);
MakeSureDirectoryExistA(data0); // for dat and cfg files
}
return true;
}
//*****************************************************************************
// CONSTRUCTOR: ossimLsrSpace
//
// Constructs the space given origin, and Y and Z ECEF directions. The int
// argument is a place holder only and not used.
//
//*****************************************************************************
ossimLsrSpace::ossimLsrSpace(const ossimEcefPoint& origin,
int /* x_not_provided_space_holder */,
const ossimEcefVector& y_dir_ecf_vec,
const ossimEcefVector& z_dir_ecf_vec)
: theOrigin (origin)
{
//***
// Compute the remaining axis given first two:
//***
ossimColumnVector3d ydir (y_dir_ecf_vec.data().unit());
ossimColumnVector3d zdir (z_dir_ecf_vec.data().unit());
ossimColumnVector3d xdir (ydir.cross(zdir));
//***
// Fill the rotation matrix:
//***
theLsrToEcefRotMatrix = ossimMatrix3x3::create(xdir[0], ydir[0], zdir[0],
xdir[1], ydir[1], zdir[1],
xdir[2], ydir[2], zdir[2]);
}
/// void LC3FoodLook(struct SquareData *felt, struct LC3Brain *mem)
void LC3FoodLook(struct SquareData *felt, struct LC3Brain *mem) {
int f;
/* Kig efter mad */
if (felt[1].NumFood+felt[2].NumFood+felt[3].NumFood+felt[4].NumFood) {
for (f = 1 ; f <= 4 ; f++) {
if (felt[f].NumFood > felt[f].NumAnts) {
mem->xdest = mem->xpos+xdir(f);
mem->ydest = mem->ypos+ydir(f);
break;
}
}
}
if (felt->NumFood > felt->NumAnts) {
mem->xdest = mem->xpos;
mem->ydest = mem->ypos;
mem->num = felt->NumFood-felt->NumAnts;
mem->status = LC_Status_FoundFood;
}
}
/*
* Called after all files have been processed
*/
bool CThePlugin::PosProcess()
{
// Iterate on the asi list loading each asi file
for(auto& asi : this->asiList)
{
scoped_chdir xdir(asi.folder.c_str());
SetLastError(0);
// ....
bool bLoaded = asi.Load();
if(asi.bIsMainExecutable == false)
{
Log("[%s] %s \"%s\"; errcode: 0x%X",
(asi.bIsASI? "ASI" : asi.bIsD3D9? "D3D9" : "???"),
(bLoaded? "Module has been loaded:" : "Failed to load module"),
asi.path.c_str(),
GetLastError());
}
}
return true;
}
void StereoReconstructor::computeCoordinate(std::string corners, std::string coord, int x, int y) {
//读取所有的角点
std::ifstream file(corners.c_str());
std::vector<cv::Point3f> corner;
corner.reserve(x*y);
cv::Point3f point;
while (file >> point.x >> point.y >> point.z) {
corner.push_back(point);
}
file.close();
//计算x方向
cv::Point3f pd = corner[x - 1] - corner[0];
cv::Point3f xdir(0, 0, 0);
for (int i = 0; i < y; i++) {
std::vector<cv::Point3f> tps;
//提取x方向的点
for (int j = 0; j < x; j++) {
cv::Point3f tp = corner[i*x + j];
tps.push_back(tp);
}
cv::Point3f td = Utilities::lineFit(tps);
xdir += td;
}
xdir.x = xdir.x / y;
xdir.y = xdir.y / y;
xdir.z = xdir.z / y;
if (pd.dot(xdir) < 0) {
xdir = -xdir;
}
double xv[] = {xdir.x, xdir.y, xdir.z};
double normal = sqrt(xv[0] * xv[0] + xv[1] * xv[1] + xv[2] * xv[2]);
xv[0] /= normal;
xv[1] /= normal;
xv[2] /= normal;
//计算y方向
cv::Point3f pyd = corner[x] - corner[0];
cv::Point3f ydir(0, 0, 0);
for (int i = 0; i < x; i++) {
std::vector<cv::Point3f> tps;
//提取y方向的点
for (int j = 0; j < y; j++) {
cv::Point3f tp = corner[j*x + i];
tps.push_back(tp);
}
cv::Point3f td = Utilities::lineFit(tps);
ydir += td;
}
ydir.x = ydir.x / x;
ydir.y = ydir.y / x;
ydir.z = ydir.z / x;
if (pyd.dot(ydir) < 0) {
ydir = -ydir;
}
double yv[] = {ydir.x, ydir.y, ydir.z};
normal = sqrt(yv[0] * yv[0] + yv[1] * yv[1] + yv[2] * yv[2]);
yv[0] /= normal;
yv[1] /= normal;
yv[2] /= normal;
//计算坐标系
double zv[3];
zv[0] = xv[1] * yv[2] - xv[2] * yv[1];
zv[1] = xv[2] * yv[0] - xv[0] * yv[2];
zv[2] = xv[0] * yv[1] - xv[1] * yv[0];
//保存到坐标系文件
std::ofstream coordinate(coord);
coordinate << corner[0].x << '\t' << corner[0].y << '\t' << corner[0].z << std::endl;
coordinate << xv[0] << '\t' << xv[1] << '\t' << xv[2] << std::endl;
coordinate << yv[0] << '\t' << yv[1] << '\t' << yv[2] << std::endl;
coordinate << zv[0] << '\t' << zv[1] << '\t' << zv[2] << std::endl;
coordinate.close();
}
