text_symbolizer_helper::text_symbolizer_helper(
shield_symbolizer const& sym,
feature_impl const& feature,
attributes const& vars,
proj_transform const& prj_trans,
unsigned width, unsigned height, double scale_factor,
view_transform const& t, FaceManagerT & font_manager,
DetectorT & detector, box2d<double> const& query_extent, agg::trans_affine const& affine_trans)
: base_symbolizer_helper(sym, feature, vars, prj_trans, width, height, scale_factor, t, query_extent),
finder_(feature, vars, detector, dims_, *placement_, font_manager, scale_factor),
adapter_(finder_,true),
converter_(query_extent_, adapter_, sym_, t, prj_trans, affine_trans, feature, vars, scale_factor)
{
// setup vertex converter
bool clip = mapnik::get<bool>(sym_, keys::clip, feature_, vars_, false);
double simplify_tolerance = mapnik::get<double>(sym_, keys::simplify_tolerance, feature_, vars_, 0.0);
double smooth = mapnik::get<double>(sym_, keys::smooth, feature_, vars_, 0.0);
if (clip) converter_.template set<clip_line_tag>(); //optional clip (default: true)
converter_.template set<transform_tag>(); //always transform
converter_.template set<affine_transform_tag>();
if (simplify_tolerance > 0.0) converter_.template set<simplify_tag>(); // optional simplify converter
if (smooth > 0.0) converter_.template set<smooth_tag>(); // optional smooth converter
if (geometries_to_process_.size())
{
init_marker();
finder_.next_position();
}
}
void Replay::start(){
load();
index=0;
b_replay=true;
marker_publisher = ptr_node->advertise<visualization_msgs::Marker>("visualization_marker_replay", 10);
init_marker();
future = std::async(std::launch::async, std::bind(&Replay::update, this));
}
//Only load BVH structure for distance checking
SweptVolumeVisual::SweptVolumeVisual(std::string f, Geometry &in): TrisTriangleObject() {
this->g = in;
double scale = 1.0;
this->g.setSX(scale);
this->g.setSY(scale);
this->g.setSZ(scale);
this->tris_file_name=f;
this->tris2marker( this->marker, tris_file_name.c_str() );
set_color(ros::SWEPT_VOLUME);
init_marker();
}
ColladaObject::ColladaObject(const char *cfilename): RVIZVisualMarker(){
filename = std::string(cfilename);
this->g.setX(0);
this->g.setY(0);
this->g.setSX(1.0);
this->g.setSY(1.0);
this->g.setSZ(1.0);
set_color(0,0,0,0);//texture is not shown, if any color!=0
init_marker();
marker.mesh_resource = filename;
marker.mesh_use_embedded_materials=true;
}
void PrimitiveMarkerTriangle::initPrimitiveMarker( PrimitiveMarkerTriangle *pmt){
std::pair< std::vector<fcl::Vec3f>, std::vector<fcl::Triangle> > vt = pmt->getVerticesAndTriangles();
#ifdef FCL_COLLISION_CHECKING
this->bvh = new fcl::BVHModel< BoundingVolume >();
primitiveMarker2BVH(this->bvh, vt);
#endif
this->pqp_model = new PQP_Model;
primitiveMarker2PQP(this->pqp_model, vt);
primitiveMarker2RVIZMarker(this->marker, vt);
init_marker();
}
text_symbolizer_helper::text_symbolizer_helper(
shield_symbolizer const& sym,
feature_impl const& feature,
attributes const& vars,
proj_transform const& prj_trans,
unsigned width, unsigned height, double scale_factor,
CoordTransform const& t, FaceManagerT & font_manager,
DetectorT &detector, const box2d<double> &query_extent)
: base_symbolizer_helper(sym, feature, vars, prj_trans, width, height, scale_factor, t, query_extent),
finder_(feature, vars, detector, dims_, *placement_, font_manager, scale_factor),
points_on_line_(true)
{
if (geometries_to_process_.size())
{
init_marker();
finder_.next_position();
}
}
SweptVolumeObject::SweptVolumeObject(std::string f, Geometry &in): TrisTriangleObject() {
this->g = in;
double scale = 1.0;
this->g.setSX(scale);
this->g.setSY(scale);
this->g.setSZ(scale);
this->tris_file_name=f;
//this->bvh = new fcl::BVHModel< BoundingVolume >();
//this->tris2BVH(this->bvh, tris_file_name.c_str() );
this->pqp_model = new PQP_Model;
this->tris2PQP( this->pqp_model, tris_file_name.c_str() );
//this->tris2marker( this->marker, tris_file_name.c_str() );
set_color(ros::SWEPT_VOLUME);
init_marker();
}
BlenderMeshTriangleObject::BlenderMeshTriangleObject(const char *cfilename, const char *trisname, double x, double y, double tz): TrisTriangleObject(){
filename = std::string(cfilename);
tris_file_name = get_tris_str(trisname);
this->g.setX(x);
this->g.setY(y);
this->g.setSX(1.0);
this->g.setSY(1.0);
this->g.setSZ(1.0);
this->pqp_model = new PQP_Model;
this->pqp_margin = new PQP_Model;
this->tris2PQP( this->pqp_model, this->pqp_margin, tris_file_name.c_str() );
set_color(0,0,0,0);
init_marker();
marker.mesh_resource = filename;
marker.mesh_use_embedded_materials=true;
}
void TrisTriangleObject::init_object( std::string f, Geometry &in, bool mirror_y){
this->g = in;
double scale = 1.0;
this->g.setSX(scale);
this->g.setSY(scale);
this->g.setSZ(scale);
this->tris_file_name=f;
this->pqp_model = new PQP_Model;
this->pqp_margin = new PQP_Model;
this->tris2PQP( this->pqp_model, this->pqp_margin, tris_file_name.c_str(), mirror_y);
#ifdef FCL_COLLISION_CHECKING
this->bvh = new fcl::BVHModel< BoundingVolume >();
this->tris2BVH(this->bvh, tris_file_name.c_str(), mirror_y);
#endif
this->tris2marker( this->marker, tris_file_name.c_str(), mirror_y);
set_color(ros::OBSTACLE);
init_marker();
}
text_symbolizer_helper::text_symbolizer_helper(
shield_symbolizer const& sym,
feature_impl const& feature,
attributes const& vars,
proj_transform const& prj_trans,
unsigned width, unsigned height, double scale_factor,
view_transform const& t, FaceManagerT & font_manager,
DetectorT & detector, box2d<double> const& query_extent, agg::trans_affine const& affine_trans)
: base_symbolizer_helper(sym, feature, vars, prj_trans, width, height, scale_factor, t, query_extent),
finder_(feature, vars, detector, dims_, *info_ptr_, font_manager, scale_factor),
adapter_(finder_,true),
converter_(query_extent_, adapter_, sym_, t, prj_trans, affine_trans, feature, vars, scale_factor)
{
//WI: Porting the change to allow shield symbolizers to be placed along line
// direction 13NOV2014
label_placement_enum how_placed = text_props_->label_placement;
if (how_placed == LINE_PLACEMENT)
{
//WI: this flag distinguish between placing shields at the center of a point
//placement on the line or along the line direction
//Setting it to false here, to force shield placement along line direction
adapter_.points_on_line_ = false;
}
// setup vertex converter
value_bool clip = mapnik::get<value_bool, keys::clip>(sym_, feature_, vars_);
value_double simplify_tolerance = mapnik::get<value_double, keys::simplify_tolerance>(sym_, feature_, vars_);
value_double smooth = mapnik::get<value_double, keys::smooth>(sym_, feature_, vars_);
if (clip) converter_.template set<clip_line_tag>(); //optional clip (default: true)
converter_.template set<transform_tag>(); //always transform
converter_.template set<affine_transform_tag>();
if (simplify_tolerance > 0.0) converter_.template set<simplify_tag>(); // optional simplify converter
if (smooth > 0.0) converter_.template set<smooth_tag>(); // optional smooth converter
if (geometries_to_process_.size())
{
init_marker();
finder_.next_position();
}
}
int main(int argc, char **argv) {
int fin, res, id=0;
off_t block_end, block_start, upto;
id_info_t id_info;
char *filename = NULL;
char *type = NULL;
int optindex=0;
bz_info_t bfile;
int verbose = 0;
int optc;
int result;
struct option optvalues[] = {
{"filename", 1, 0, 'f'},
{"type", 1, 0, 't'},
{"verbose", 0, 0, 'v'},
{"version", 0, 0, 'V'},
{NULL, 0, NULL, 0}
};
while (1) {
optc = getopt_long_only(argc,argv,"f:hvV", optvalues, &optindex);
if (optc=='f') {
filename=optarg;
}
else if (optc == 't') {
type = optarg;
}
else if (optc == 'h')
usage(NULL);
else if (optc == 'v')
verbose++;
else if (optc == 'V')
show_version(VERSION);
else if (optc == -1) break;
else usage("Unknown option or other error\n");
}
if (! filename) {
usage(NULL);
}
fin = open (filename, O_RDONLY);
if (fin < 0) {
fprintf(stderr,"Failed to open file %s for read\n", filename);
exit(1);
}
bfile.file_size = get_file_size(fin);
bfile.footer = init_footer();
bfile.marker = init_marker();
result = check_file_for_footer(fin, &bfile);
if (result == -1) {
bfile.position = bfile.file_size;
}
else {
bfile.position = bfile.file_size - (off_t)11; /* size of footer, perhaps with 1 byte extra */
}
bfile.position -=(off_t)6; /* size of marker */
bfile.initialized = 0;
bfile.bytes_read = 0;
/* start at end of file */
block_end = bfile.position;
upto = block_end;
block_start = (off_t)-1;
id = 0;
while (!id) {
bfile.initialized = 0;
init_decompress(&bfile);
block_start = find_first_bz2_block_from_offset(&bfile, fin, block_end, BACKWARD);
if (block_start <= (off_t) 0) giveup(fin);
BZ2_bzDecompressEnd (&(bfile.strm));
res = get_last_id_after_offset(fin, &id_info, &bfile, upto, type, verbose);
if (res > 0) {
id = id_info.id;
}
else {
upto = block_end;
block_end = block_start - (off_t) 1;
if (block_end <= (off_t) 0) giveup(fin);
}
BZ2_bzDecompressEnd (&(bfile.strm));
}
if (!id) giveup(fin);
fprintf(stdout, "%s_id:%d\n", type, id);
close(fin);
exit(0);
}
