void CompactTriples::load(ModifiableTriples &triples, ProgressListener *listener) {
triples.sort(order);
IteratorTripleID *it = triples.searchAll();
vector<unsigned int> vectorY, vectorZ;
unsigned int lastX, lastY, lastZ;
unsigned int x, y, z;
// First triple
if(it->hasNext()) {
TripleID *triple = it->next();
swapComponentOrder(triple, SPO, order);
lastX = x = triple->getSubject();
lastY = y = triple->getPredicate();
lastZ = z = triple->getObject();
vectorY.push_back(y);
vectorZ.push_back(z);
numTriples++;
}
// Rest of the triples
while(it->hasNext()) {
TripleID *triple = it->next();
//cout << "111> " << triple << endl;
swapComponentOrder(triple, SPO, order);
//cout << "222> " << triple << endl;
x = triple->getSubject();
y = triple->getPredicate();
z = triple->getObject();
if(x!=lastX) {
vectorY.push_back(0);
vectorY.push_back(y);
vectorZ.push_back(0);
vectorZ.push_back(z);
} else if(y!=lastY) {
vectorY.push_back(y);
vectorZ.push_back(0);
vectorZ.push_back(z);
} else {
vectorZ.push_back(z);
}
lastX = x;
lastY = y;
lastZ = z;
NOTIFYCOND(listener, "Converting to CompactTriples.", numTriples, triples.getNumberOfElements());
numTriples++;
}
delete it;
VectorUIntIterator itY(vectorY);
VectorUIntIterator itZ(vectorZ);
streamY->add(itY);
streamZ->add(itZ);
#if 0
// Debug Adjacency Lists
cout << "Y" << vectorY.size() << "): ";
for(unsigned int i=0;i<arrayY->getNumberOfElements();i++){
cout << arrayY->get(i) << " ";
}
cout << endl;
cout << "Z" << vectorZ.size() << "): ";
for(unsigned int i=0;i<arrayZ->getNumberOfElements();i++){
cout << arrayZ->get(i) << " ";
}
cout << endl;
#endif
}
bool OpenNiDevice::grab(void)
{
if (!_depth.isValid() && !_color.isValid() && !_ir.isValid())
{
std::cout << "No stream available." << std::endl;
return false;
}
if (_depth.isValid())
{
_depth.readFrame(&_frameDepth);
const openni::DepthPixel* data = reinterpret_cast<const openni::DepthPixel*>(_frameDepth.getData());
std::vector<float>::iterator itZ(_z.begin());
std::vector<float>::iterator itCoords(_coords.begin());
for (int row = 0; row < _height; ++row)
{
for (int col = 0; col < _width; ++col, ++itZ, ++data)
{
float x;
float y;
float z;
openni::CoordinateConverter::convertDepthToWorld(_depth, col, row, *data, &x, &y, &z);
*itZ = *data * 0.001;
*itCoords++ = x * 0.001;
*itCoords++ = y * 0.001;
*itCoords++ = z * 0.001;
}
}
}
if (_color.isValid())
{
_color.readFrame(&_frameColor);
const openni::RGB888Pixel* data = reinterpret_cast<const openni::RGB888Pixel*>(_frameColor.getData());
const int size = _width * _height;
for(int i=0; i<size; i++, data++)
{
_imgRgb[3*i] = data->r;
_imgRgb[3*i+1] = data->g;
_imgRgb[3*i+2] = data->b;
}
}
if (_ir.isValid())
{
_ir.readFrame(&_frameIr);
const uint16_t* data = reinterpret_cast<const uint16_t*>(_frameIr.getData());
const int size = _width * _height;
for(int i=0; i<size; i++, data++)
{
_imgIr[3*i] = *data >> 2;
_imgIr[3*i+1] = *data >> 2;
_imgIr[3*i+2] = *data >> 2;
}
}
