void QXmppStreamFeatures::toXml(QXmlStreamWriter *writer) const
{
writer->writeStartElement("stream:features");
writeFeature(writer, "bind", ns_bind, m_bindMode);
writeFeature(writer, "session", ns_session, m_sessionMode);
writeFeature(writer, "auth", ns_authFeature, m_nonSaslAuthMode);
writeFeature(writer, "starttls", ns_tls, m_tlsMode);
if (!m_compressionMethods.isEmpty())
{
writer->writeStartElement("compression");
writer->writeAttribute("xmlns", ns_compressFeature);
for (int i = 0; i < m_compressionMethods.size(); i++)
{
writer->writeStartElement("method");
switch (m_compressionMethods[i])
{
case QXmppConfiguration::ZlibCompression:
writer->writeCharacters("zlib");
break;
}
writer->writeEndElement();
}
writer->writeEndElement();
}
if (!m_authMechanisms.isEmpty())
{
writer->writeStartElement("mechanisms");
writer->writeAttribute("xmlns", ns_sasl);
for (int i = 0; i < m_authMechanisms.size(); i++)
{
writer->writeStartElement("mechanism");
switch (m_authMechanisms[i])
{
case QXmppConfiguration::SASLPlain:
writer->writeCharacters("PLAIN");
break;
case QXmppConfiguration::SASLDigestMD5:
writer->writeCharacters("DIGEST-MD5");
break;
case QXmppConfiguration::SASLAnonymous:
writer->writeCharacters("ANONYMOUS");
break;
case QXmppConfiguration::SASLXFacebookPlatform:
writer->writeCharacters("X-FACEBOOK-PLATFORM");
break;
}
writer->writeEndElement();
}
writer->writeEndElement();
}
writer->writeEndElement();
}
void QXmppStreamFeatures::toXml(QXmlStreamWriter *writer) const
{
writer->writeStartElement("stream:features");
writeFeature(writer, "bind", ns_bind, m_bindMode);
writeFeature(writer, "session", ns_session, m_sessionMode);
writeFeature(writer, "auth", ns_authFeature, m_nonSaslAuthMode);
writeFeature(writer, "starttls", ns_tls, m_tlsMode);
if (!m_compressionMethods.isEmpty())
{
writer->writeStartElement("compression");
writer->writeAttribute("xmlns", ns_compressFeature);
foreach (const QString &method, m_compressionMethods)
writer->writeTextElement("method", method);
writer->writeEndElement();
}
void writeFeature(const char *name, const std::vector<float> feature, bool remove_0_flg ){
std::vector< std::vector<float> > tmp( 1 );
tmp[ 0 ] = feature;
writeFeature( name, tmp, remove_0_flg );
}
//********************************
//* main
int main( int argc, char* argv[])
{
if( argc != 4 ) {
std::cerr << "usage: " << argv[0] << " [path] [label] <registration_num>" << std::endl;
exit( EXIT_FAILURE );
}
const int file_num = atoi( argv[3] );
char tmpname[ 1000 ];
//* length of bounding box sides (initialize)
float size1 = 0;
float size2 = 0;
float size3 = 0;
float vals[3];
//* read rotate_num
sprintf( tmpname, "%s/param/parameters.txt", argv[1] );
const int rotate_num = Param::readRotateNum( tmpname );
//* read the number of voxels in each subdivision's side of a target object
const int subdivision_size = Param::readBoxSizeModel( tmpname );
//* read the length of voxel side
const float voxel_size = Param::readVoxelSize( tmpname );
//* read the threshold for RGB binalize
int color_threshold_r, color_threshold_g, color_threshold_b;
sprintf( tmpname, "%s/param/color_threshold.txt", argv[1] );
Param::readColorThreshold( color_threshold_r, color_threshold_g, color_threshold_b, tmpname );
//* Voxel Grid
pcl::VoxelGrid<pcl::PointXYZRGB> grid;
grid.setLeafSize (voxel_size, voxel_size, voxel_size);
grid.setSaveLeafLayout(true);
//******************************//
//* C3-HLAC feature extraction *//
//******************************//
int write_count = 0;
std::vector< std::vector<float> > c3_hlac;
for( int n = 0; n < file_num; n++ ) {
printf("%d in %d...\n",n,file_num);
pcl::PointCloud<pcl::PointXYZRGB> ref_cloud;
sprintf( tmpname, "%s/models/%s/Points/%05d.pcd", argv[1], argv[2], n );
pcl::io::loadPCDFile (tmpname, ref_cloud);
//* rotate point clouds synthetically to T postures
//* T postures: obtained by rotation with each (90/$rotate_num) degrees for x-, y- and z-axis.
for(int r3=0; r3 < rotate_num; r3++) {
for(int r2=0; r2 < rotate_num; r2++) {
for(int r1=0; r1 < rotate_num; r1++) {
const double roll = r3 * M_PI / (2*rotate_num);
const double pan = r2 * M_PI / (2*rotate_num);
const double roll2 = r1 * M_PI / (2*rotate_num);
//* voxelize
pcl::PointCloud<pcl::PointXYZRGB> input_cloud;
pcl::PointCloud<pcl::PointXYZRGB> cloud_downsampled;
rotatePoints( ref_cloud, input_cloud, roll, pan, roll2 ); // rotation
grid.setInputCloud ( input_cloud.makeShared() );
grid.filter (cloud_downsampled);
//* extract features
extractC3HLACSignature981( grid, cloud_downsampled, c3_hlac, color_threshold_r, color_threshold_g, color_threshold_b, voxel_size, subdivision_size );
sprintf( tmpname, "%s/models/%s/Features/%05d.pcd", argv[1], argv[2], write_count++ );
writeFeature( tmpname, c3_hlac );
//* determine bounding box size
getMinMax_points( cloud_downsampled, vals[0], vals[1], vals[2] );
float tmp_size1 = 0;
float tmp_size2 = 0;
float tmp_size3 = 0;
for( int j=0; j<3; j++ )
setSize( tmp_size1, tmp_size2, tmp_size3, vals[ j ] );
if( tmp_size1 > size1 ) size1 = tmp_size1;
if( tmp_size2 > size2 ) size2 = tmp_size2;
if( tmp_size3 > size3 ) size3 = tmp_size3;
if(r2==0) break;
}
}
}
}
//* output bounding box size
sprintf( tmpname, "%s/models/%s/size.txt",argv[1], argv[2] );
FILE *fp = fopen( tmpname, "w" );
fprintf( fp, "%f %f %f\n", size1, size2, size3 );
fclose( fp );
return 0;
}
