Vector getPosition() const
{
return F->output();
}
Filter::Filter( Filter &filter ) :
Mlt::Service( filter ),
instance( filter.get_filter( ) )
{
inc_ref( );
}
int CmdDuplicate::execute (std::string&)
{
int rc = 0;
int count = 0;
// Apply filter.
Filter filter;
std::vector <Task> filtered;
filter.subset (filtered);
if (filtered.size () == 0)
{
context.footnote (STRING_FEEDBACK_NO_TASKS_SP);
return 1;
}
// Accumulated project change notifications.
std::map <std::string, std::string> projectChanges;
for (auto& task : filtered)
{
// Duplicate the specified task.
Task dup (task);
dup.id = 0; // Reset, and TDB2::add will set.
dup.set ("uuid", uuid ()); // Needs a new UUID.
dup.remove ("start"); // Does not inherit start date.
dup.remove ("end"); // Does not inherit end date.
dup.remove ("entry"); // Does not inherit entry date.
// When duplicating a child task, downgrade it to a plain task.
if (dup.has ("parent"))
{
dup.remove ("parent");
dup.remove ("recur");
dup.remove ("until");
dup.remove ("imask");
std::cout << format (STRING_CMD_DUPLICATE_NON_REC, task.id)
<< "\n";
}
// When duplicating a parent task, create a new parent task.
else if (dup.getStatus () == Task::recurring)
{
dup.remove ("mask");
std::cout << format (STRING_CMD_DUPLICATE_REC, task.id)
<< "\n";
}
dup.setStatus (Task::pending); // Does not inherit status.
// Must occur after Task::recurring check.
dup.modify (Task::modAnnotate);
if (permission (format (STRING_CMD_DUPLICATE_CONFIRM,
task.id,
task.get ("description")),
filtered.size ()))
{
context.tdb2.add (dup);
++count;
feedback_affected (STRING_CMD_DUPLICATE_TASK, task);
if (context.verbose ("new-id"))
std::cout << format (STRING_CMD_ADD_FEEDBACK, dup.id) + "\n";
else if (context.verbose ("new-uuid"))
std::cout << format (STRING_CMD_ADD_FEEDBACK, dup.get ("uuid")) + "\n";
if (context.verbose ("project"))
projectChanges[task.get ("project")] = onProjectChange (task);
}
else
{
std::cout << STRING_CMD_DUPLICATE_NO << "\n";
rc = 1;
if (_permission_quit)
break;
}
}
// Now list the project changes.
for (auto& change : projectChanges)
if (change.first != "")
context.footnote (change.second);
feedback_affected (count == 1 ? STRING_CMD_DUPLICATE_1 : STRING_CMD_DUPLICATE_N, count);
return rc;
}
// Increase minimal distance between vertices
void MoleculeLayoutGraph::_refineCoordinates (const BiconnectedDecomposer &bc_decomposer, const ObjArray<MoleculeLayoutGraph> &bc_components, const Array<int> &bc_tree)
{
RefinementState beg_state(*this);
RefinementState best_state(*this);
RefinementState new_state(*this);
QS_DEF(Array<int>, branch);
int v1, v2;
int v1c, v2c;
int i, j, n;
v1c = v1 = vertexBegin();
v2c = v2 = vertexNext(v1);
// Calculate initial energy
beg_state.copyFromGraph();
beg_state.calcEnergy();
beg_state.calcDistance(v1, v2);
best_state.copy(beg_state);
new_state.copy(beg_state);
// Look through all vertex pairs which are closer than 0.6
bool improved = true;
QS_DEF(RedBlackSet<int>, edges);
QS_DEF(Array<int>, components1);
QS_DEF(Array<int>, components2);
EnumContext context;
context.edges = &edges;
context.graph = this;
context.maxIterationNumber = max_iterations;
int max_improvements = max_iterations * max_iterations;
int n_improvements = 0;
while (improved)
{
if (max_improvements > 0 && n_improvements > max_improvements)
break;
n_improvements++;
improved = false;
edges.clear();
int n_edges = 0;
int n_enumerations = 0;
bool to_break = false;
for (v1 = vertexBegin(); v1 < vertexEnd() && !to_break; v1 = vertexNext(v1))
for (v2 = vertexNext(v1); v2 < vertexEnd(); v2 = vertexNext(v2))
{
new_state.calcDistance(v1, v2);
if (new_state.dist > 0.36f)
continue;
// Check if they are from the same component
bool next_pair = false;
bc_decomposer.getVertexComponents(v1, components1);
bc_decomposer.getVertexComponents(v2, components2);
for (i = 0; i < components1.size() && !next_pair; i++)
for (j = 0; j < components2.size(); j++)
{
int comp1 = components1[i];
int comp2 = components2[j];
if (comp1 == comp2 && !bc_components[comp1].isSingleEdge() && !bc_components[comp2].isSingleEdge())
{
next_pair = true;
break;
}
}
if (next_pair)
continue;
// check iterations limit
if (max_iterations > 0 && n_enumerations > max_iterations)
{
to_break = true;
break;
}
n_enumerations++;
// Find acyclic edges on the all paths between v1 and v2
PathEnumerator path_enum(*this, v1, v2);
path_enum.cb_check_edge = _edge_check;
path_enum.cb_handle_path = _path_handle;
path_enum.context = &context;
context.iterationNumber = 0;
try {
path_enum.process();
}
catch (Error) {
// iterations limit reached
}
if (edges.size() == n_edges)
continue;
n_edges = edges.size();
if (beg_state.dist - 0.00001 > new_state.dist)
{
beg_state.dist = new_state.dist;
v1c = v1;
v2c = v2;
}
}
if (edges.size() == 0)
{
//beg_state.applyToGraph();
break;
}
// Flipping
// Look through found edges
for (i = edges.begin(); i < edges.end(); i = edges.next(i))
{
if (max_improvements > 0 && n_improvements > max_improvements)
break;
n_improvements++;
// Try to flip branch
const Edge &edge = getEdge(edges.key(i));
if (_molecule != 0 && _molecule->cis_trans.getParity(_molecule_edge_mapping[_layout_edges[edges.key(i)].ext_idx]) != 0)
continue;
if (getVertex(edge.beg).degree() == 1 || getVertex(edge.end).degree() == 1)
continue;
Filter filter;
_makeBranches(branch, edges.key(i), filter);
new_state.flipBranch(filter, beg_state, edge.beg, edge.end);
new_state.calcEnergy();
if (new_state.energy < best_state.energy - 0.00001)
{
improved = true;
best_state.copy(new_state);
}
}
if (improved)
{
beg_state.copy(best_state);
continue;
}
// Rotations
// Look through found edges
for (i = edges.begin(); i < edges.end(); i = edges.next(i))
{
if (max_improvements > 0 && n_improvements > max_improvements)
break;
n_improvements += 3;
// Try to rotate one branch by 10 degrees in both directions around both vertices
const Edge &edge = getEdge(edges.key(i));
if (_molecule != 0 && _molecule->cis_trans.getParity(_molecule_edge_mapping[_layout_edges[edges.key(i)].ext_idx]) != 0)
continue;
Filter filter;
_makeBranches(branch, edges.key(i), filter);
bool around_beg = _allowRotateAroundVertex(edge.beg);
bool around_end = _allowRotateAroundVertex(edge.end);
if (around_beg)
{
new_state.rotateBranch(filter, beg_state, edge.beg, 10);
new_state.calcDistance(v1c, v2c);
new_state.calcEnergy();
if (new_state.dist > beg_state.dist && new_state.energy < best_state.energy - 0.00001)
{
improved = true;
best_state.copy(new_state);
}
new_state.rotateBranch(filter, beg_state, edge.beg, -10);
new_state.calcDistance(v1c, v2c);
new_state.calcEnergy();
if (new_state.dist > beg_state.dist && new_state.energy < best_state.energy - 0.00001)
{
improved = true;
best_state.copy(new_state);
}
}
if (around_end)
{
new_state.rotateBranch(filter, beg_state, edge.end, 10);
new_state.calcDistance(v1c, v2c);
new_state.calcEnergy();
if (new_state.dist > beg_state.dist && new_state.energy < best_state.energy - 0.00001)
{
improved = true;
best_state.copy(new_state);
}
new_state.rotateBranch(filter, beg_state, edge.end, -10);
new_state.calcDistance(v1c, v2c);
new_state.calcEnergy();
if (new_state.dist > beg_state.dist && new_state.energy < best_state.energy - 0.00001)
{
improved = true;
best_state.copy(new_state);
}
}
// Stretching
// Try to stretch each edge with 1.6 ratio
if ((n = filter.count(*this)) != 1 && n != vertexCount() - 1)
{
new_state.stretchBranch(filter, beg_state, edge.beg, edge.end, 6);
new_state.calcDistance(v1c, v2c);
new_state.calcEnergy();
if (new_state.dist > beg_state.dist && new_state.energy + 20 < beg_state.energy &&
new_state.energy < best_state.energy - 0.00001)
{
improved = true;
best_state.copy(new_state);
}
}
}
if (improved)
beg_state.copy(best_state);
}
if (_n_fixed == 0)
{
int center = -1;
long max_code = 0;
for (i = vertexBegin(); i < vertexEnd(); i = vertexNext(i))
if (getLayoutVertex(i).morgan_code > max_code)
{
center = i;
max_code = getLayoutVertex(i).morgan_code;
}
beg_state.calcHeight();
for (float angle = -90.f; angle < 90.f + EPSILON; angle += 30.f)
{
new_state.rotateLayout(beg_state, center, angle);
new_state.calcHeight();
if (new_state.height < beg_state.height - EPSILON)
beg_state.copy(new_state);
}
}
beg_state.applyToGraph();
_excludeDandlingIntersections();
}
void _validate(bool)
{
filter.initialize();
copy_info();
}
void ParameterizedFilter::RoughMakeProjections(int to_dim, bool update_reduced)
{
MEASURE_FET("ParameterizedFilter::RoughMakeProjections(...)");
int total_excluded = 0;
vector<int> dims_reduced = rough_mind->GetReducedDimensions();
vector<int>::const_iterator dim1;
for(dim1 = dims_reduced.begin(); dim1 != dims_reduced.end(); ++dim1) {
if(*dim1 == to_dim)
continue;
// find all descriptors which may potentially influence other dimensions
vector<Descriptor> local_desc;
for(uint i = 0; i < descriptors.Size(); i++) {
if(descriptors[i].done || descriptors[i].IsDelayed())
continue;
if(descriptors[i].IsOuter())
return; // do not make any projections in case of outer joins present
if(!descriptors[i].attr.vc || descriptors[i].attr.vc->GetDim() == -1 || !descriptors[i].val1.vc || descriptors[i].val1.vc->GetDim() == -1)
continue; //only SingleColumns processed here
DimensionVector dims(mind->NoDimensions());
descriptors[i].DimensionUsed(dims);
if(descriptors[i].attr.vc && dims[*dim1] && dims[to_dim] && dims.NoDimsUsed() == 2)
local_desc.push_back(descriptors[i]);
}
// make projection to another dimension
for(int i = 0; i < local_desc.size(); i++) {
// find the other dimension
Descriptor& ld = local_desc[i];
DimensionVector dims(mind->NoDimensions());
ld.DimensionUsed(dims);
PackOrderer po;
VirtualColumn* matched_vc;
MIDummyIterator local_mit(mind);
if(*dim1 == ld.attr.vc->GetDim()) {
po.Init(ld.attr.vc, PackOrderer::RangeSimilarity, rough_mind->GetRSValueTable(ld.attr.vc->GetDim()));
matched_vc = ld.val1.vc;
} else {
po.Init(ld.val1.vc, PackOrderer::RangeSimilarity, rough_mind->GetRSValueTable(ld.val1.vc->GetDim()));
matched_vc = ld.attr.vc;
}
// for each dim2 pack, check whether it may be joined with anything nonempty on dim1
for(int p2 = 0; p2 < rough_mind->NoPacks(to_dim); p2++) {
if(rough_mind->GetPackStatus(to_dim, p2) != RS_NONE) {
bool pack_possible = false;
local_mit.SetPack(to_dim, p2);
// if(po.IsValid())
po.RewindToMatch(matched_vc, local_mit);
// else
// po.RewindToCurrent();
while(po.IsValid()) {
// for(int p1 = 0; p1 < rmind.NoPacks(dim1); p1++)
// if(rmind.GetPackStatus(dim1, p1) != RS_NONE) {
if(rough_mind->GetPackStatus(*dim1, po.Current()) != RS_NONE) {
local_mit.SetPack(*dim1, po.Current()); // set a dummy position, just for transferring pack number
if(ld.attr.vc->RoughCheck(local_mit, ld) != RS_NONE) {
pack_possible = true;
break;
}
}
++po;
}
if(!pack_possible) {
rough_mind->SetPackStatus(to_dim, p2, RS_NONE);
total_excluded++;
}
}
}
}
if(update_reduced)
rough_mind->UpdateReducedDimension(*dim1);
local_desc.clear();
}
if(total_excluded > 0) {
rccontrol.lock(mind->m_conn->GetThreadID()) << "Packrows excluded by rough multidimensional projections: " << total_excluded << unlock;
rough_mind->UpdateLocalRoughFilters(to_dim);
for(dim1 = dims_reduced.begin(); dim1 != dims_reduced.end(); ++dim1) {
Filter *f = mind->GetUpdatableFilter(*dim1);
if(f) {
for(int b = 0; b < rough_mind->NoPacks(*dim1); b++) {
if(rough_mind->GetPackStatus(*dim1, b) == RS_NONE)
f->ResetBlock(b);
}
}
}
mind->UpdateNoTuples();
}
}
void FilterList::convert(const std::vector<std::string> & ruleList, const std::set<std::string> & disabled_list, std::vector<RegExpFilter *> & regexpList, std::vector<ElemHideSelector *> & elemHideFilter)
{
static const char * ELEMHIDE_PATTERN = "^([^\\/\\*\\|\\@\"]*?)#(?:([\\w\\-]+|\\*)((?:\\([\\w\\-]+(?:[$^*]?=[^\\(\\)\"]*)?\\))*)|#([^{}]+))$";
static const char * REGEXPR_PATTERN = "^\\/(.*)\\/$";
static const char * OPTIONS_PATTERN = "\\$(~?[\\w\\-]+(?:=[^,\\s]+)?(?:,~?[\\w\\-]+(?:=[^,\\s]+)?)*)$";
for ( auto iter = ruleList.begin(); iter != ruleList.end(); iter++ )
{
std::string rule( * iter );
if ( disabled_list.find(rule) != disabled_list.end() )
{
// 被禁用的规则，不做任何处理
continue;
}
auto pos = knownFilters.find(rule);
if ( pos != knownFilters.end() )
{
Filter * p = pos->second;
if ( p )
{
RegExpFilter * regexpFilter = dynamic_cast<RegExpFilter *>(p);
if ( regexpFilter )
{
regexpList.push_back(regexpFilter);
// 加引用计数, 以免被释放
regexpFilter->AddRef();
}
else
{
ElemHideSelector * selector = dynamic_cast<ElemHideSelector *>(p);
if ( selector )
{
elemHideFilter.push_back(selector);
// 加引用计数, 以免被释放
selector->AddRef();
}
else
{
// 不应该走到这里, 但是如果真到这里了, 把 p 从 map 里面去掉
knownFilters.erase(pos);
p->Release();
}
}
continue;
}
}
// 元素隐藏规则
std::string results[4];
if ( regexpr_match(ELEMHIDE_PATTERN, rule.c_str(), FALSE, results, 4) )
{
const std::string & domain = results[0];
const std::string & tagName = results[1];
const std::string & attrRules = results[2];
const std::string & selector = results[3];
if ( ElemHideSelector * filter = ElemHideSelector::fromText(domain, tagName, attrRules, selector) )
{
elemHideFilter.push_back(filter);
knownFilters[rule] = filter;
}
}
else
{
std::string re_rule(rule);
// 访问过滤规则
std::string options_str;
if ( regexpr_match(OPTIONS_PATTERN, re_rule.c_str(), FALSE, &options_str, 1) )
{
// 把参数部分去掉
regexpr_replace(OPTIONS_PATTERN, re_rule.c_str(), "", re_rule);
}
if ( regexpr_match(REGEXPR_PATTERN, re_rule.c_str(), FALSE, results, 1) )
{
re_rule = results[0];
}
else
{
// 将 adblockplus 规则转换成正则表达式规则
regexpr_replace("\\*+", re_rule.c_str(), "*", re_rule, TRUE);
regexpr_replace("\\^\\|$", re_rule.c_str(), "^", re_rule, FALSE);
regexpr_replace("(\\W)", re_rule.c_str(), "\r\\1", re_rule, TRUE);
string_replace(re_rule, "\r", "\\");
regexpr_replace("\\\\\\*", re_rule.c_str(), ".*", re_rule, TRUE);
regexpr_replace("\\\\\\^", re_rule.c_str(), "(?:[^\rw\r-.%\ru0080-\ruFFFF]|$)", re_rule, TRUE);
regexpr_replace("^\\\\\\|\\\\\\|", re_rule.c_str(), "^[\rw\r-]+:\r/+(?!\r/)(?:[^\r/]+\r.)?", re_rule, FALSE);
string_replace(re_rule, "\r", "\\");
regexpr_replace("^\\\\\\|", re_rule.c_str(), "^", re_rule, FALSE);
regexpr_replace("\\\\\\|$", re_rule.c_str(), "$", re_rule, FALSE);
regexpr_replace("^(\\.\\*)", re_rule.c_str(), "", re_rule, FALSE);
regexpr_replace("(\\.\\*)$", re_rule.c_str(), "", re_rule, FALSE);
}
if ( RegExpFilter * filter = RegExpFilter::fromText(re_rule, options_str) )
{
regexpList.push_back(filter);
knownFilters[rule] = filter;
}
}
}
}
int main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "objectMaster");
ros::NodeHandle n;
ros::Rate waiting_rate(30);
//strat a traver and wait for its ready
cloudTraver ct(n);
while(!ct.isReady())
{
ros::spinOnce();
waiting_rate.sleep();
}
cvNamedWindow("CurrentImage",CV_WINDOW_AUTOSIZE);
cv::Mat image;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudP;
Mat src, dst, color_dst;
std::string objectNameTemp="TEMP";
int count=0;
while(ros::ok())
{
while(!ct.isReady())
{
ros::spinOnce();
}
image=ct.getImage();
cloudP=ct.getCloud();
if(cloudP->empty())
{
std::cout<<"No pointCloud passed into this process, f**k you no points you play MAOXIAN!"<<std::endl;
continue;
}
pcl::PointCloud<PointType>::Ptr cloud_RGBA(new pcl::PointCloud<PointType>);
*cloud_RGBA=*cloudP;
Filter filter;
cloud_RGBA=filter.PassThrough(cloud_RGBA);
cloud_RGBA=filter.DeSamping(cloud_RGBA);
cloud_RGBA=filter.RemovePlane(cloud_RGBA);
if(cloud_RGBA->empty())
{
std::cout<<"No pointCloud left after the samping"<<std::endl;
continue;
}
std::vector<pcl::PointIndices> cluster_indices;
filter.ExtractionObject(cloud_RGBA,cluster_indices);
if(cluster_indices.size()!=0)
{
std::cout<<cluster_indices.size()<<"clusters extraced"<<std::endl;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_f (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud = cloud_RGBA;
//voxelgrid并不是产生球面空洞的原因
pcl::VoxelGrid<pcl::PointXYZRGBA> vg;
vg.setInputCloud (cloud);
vg.setLeafSize (0.01f, 0.01f, 0.01f);
vg.filter (*cloud_filtered);
//Create the segmentation object for the planar model and set all the parameters
pcl::SACSegmentation<pcl::PointXYZRGBA> seg;
pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_plane (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::PCDWriter writer;
seg.setOptimizeCoefficients (true);
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (100);
seg.setDistanceThreshold (0.02);
//.........
int i=0, nr_points = (int) cloud_filtered->points.size ();
while (cloud_filtered->points.size () > 0.3 * nr_points)
{
// Segment the largest planar component from the remaining cloud
seg.setInputCloud (cloud_filtered);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
std::cout << "Could not estimate a planar model for the given dataset." << std::endl;
break;
}
// Extract the planar inliers from the input cloud
pcl::ExtractIndices<pcl::PointXYZRGBA> extract;
extract.setInputCloud (cloud_filtered);
extract.setIndices (inliers);
extract.setNegative (false);
// Get the points associated with the planar surface
extract.filter (*cloud_plane);
//std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size () << " data points." << std::endl;
// Remove the planar inliers, extract the rest
extract.setNegative (true);
extract.filter (*cloud_f);
*cloud_filtered = *cloud_f;
}
//cloud filter !
pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBA>);
if ( !cloud_filtered->empty())tree->setInputCloud (cloud_filtered);
std::vector<pcl::PointIndices> cluster_indices;
pcl::EuclideanClusterExtraction<pcl::PointXYZRGBA> ec;
ec.setClusterTolerance (0.04); // 4cm
ec.setMinClusterSize (200);
ec.setMaxClusterSize (1000);
ec.setSearchMethod (tree);
ec.setInputCloud (cloud_filtered);
ec.extract (cluster_indices);
int j = 0;
int cnt = 0,inlaw = 0;
//start detect
for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_cluster (new pcl::PointCloud<pcl::PointXYZRGBA>);
for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); ++pit)
cloud_cluster->points.push_back (cloud_filtered->points[*pit]); //*
cloud_cluster->width = cloud_cluster->points.size ();
cloud_cluster->height = 1;
cloud_cluster->is_dense = true;
//std::cout << "PointCloud representing the Cluster: " << cloud_cluster->points.size () << " data points." << std::endl;
//std::stringstream ss;
//ss << "cloud_cluster_" << j << ".pcd";
//writer.write<pcl::PointXYZ> (ss.str (), *cloud_cluster, false); //*
j++;
cout <<"......................................................."<<endl;
cout << "cloud_cluster_" << j << endl;
if ( match(cloud_cluster))
{
cout << ++cnt << " sphere have been detected " <<endl;
unsigned int red,green,blue;
for (int i=0,red = 0,green =0,blue = 0; i < cloud_cluster->points.size(); i++)
{
red =cloud_cluster->points[i].r;
green =cloud_cluster->points[i].g;
blue =cloud_cluster->points[i].b;
if(getDistance(red,green,blue))inlaw++;
}
unsigned int tot = cloud_cluster->points.size();
red /=tot;
blue /=tot;
green /=tot;
/// compared with standard red !
int dis = 0;
dis = (red-255)*(red-255)+(blue-0)*(blue-0)+(green-0)*(green-0);
if(inlaw > cloud_cluster->points.size()*0.7)
{
cout <<"This is red ball ! "<<endl;
}
else
{
cout <<"Sorry it's not red ball ...."<<endl;
cout <<"#Average -> R :"<<red<<" G: "<<green<<" B: "<<blue<<endl;
}
cout <<"------------------------------------------------------"<<endl;
//viewer.showCloud(cloud_cluster);
}
}
}
viewer.showCloud(cloud_RGBA);
// --------OpenCV----------
Mat src, dst, color_dst;
cvtColor(image, image, CV_BGR2GRAY);
//sharpenImage1(image, image);
GaussianBlur(image, image, Size(5, 5), 1.5);
//sharpenImage1(image, image);
vector<Vec3f> circles;
HoughCircles(image, circles, CV_HOUGH_GRADIENT,2,120,220,70,25, 300);
vector<Vec3f>::iterator itc = circles.begin();
while(itc != circles.end())
{
cout << "x:" << (*itc)[0] << "y:" << (*itc)[1] << endl;
circle(image,Point((*itc)[0], (*itc)[1]),(*itc)[2],Scalar(255),2);
//颜色//厚度
x_position[count] = (*itc)[0];
//cout << "x_position" << count << ":" << x_position << endl;
count++;
if (count == 5)
{
sort(x_position, x_position + 5);
int mid_value = x_position[2];//每5帧的中位数
cout << "mid_value:" << mid_value << endl;
cout << "............................." << endl;
double r = (*itc)[2];
//double d = 640 * 230/(2 * r) - 271;
int l = (mid_value - 320);
double theta = (double)52 / 640 * l;
cout << "theta:" << theta << endl;
if (mid_value > 410)
{
cout << "need to turn right" << endl;
direction = 1;
}
else if (mid_value < 230)
{
cout << "need to turn left" << endl;
direction = -1;
}
else
{
cout << "succeed" << endl;
direction = 0;
}
count = 0;
mid_value = 0;
}
++itc;
}
// viewerS.showCloud(cloudP);
cv::imshow("CurrentImage", image);
//U must wait a second to let the image show on the screen
char temp=cvWaitKey(0);
if (temp ==27)break;
//wait for new datas
}
}
void Tractor::plant_filter( Filter &filter, int track )
{
mlt_field_plant_filter( mlt_tractor_field( get_tractor( ) ), filter.get_filter( ), track );
}
BOOL OpMenuLoad::LoadFile(CCLexFile* pFileToLoad, UINT32 nPrefFilter)
{
// Make sure we have a valid file to load.
/* TRACEUSER( "JustinF", _T("In OpMenuLoad::LoadFile(%p, %u)\n"),
(LPVOID) pFileToLoad, nPrefFilter);
*/ ERROR3IF(!pFileToLoad, "Null CCLexFile* in OpMenuLoad::LoadFile");
// Find out the position of the filter selected by the user in the open dialog
INT32 SelectedPos = 0;
#if !defined(EXCLUDE_FROM_RALPH) && !defined(EXCLUDE_FROM_XARALX)
SelectedPos = BaseFileDialog::SelectedFilter;
#endif
// Go get the first filter in the list
Filter* pFilter = Filter::GetFirst();
// Do we know which filter was used? (we know nothing about things in the recent file
// list). If we don't, then use the preferred one, by default the generic filter.
if (nPrefFilter != FILTERID_USERCHOICE || SelectedPos == 0)
{
// We know nothing. We will have to go and have a look at all the possibles
// We will find the Filter Family and ask it to try and load the file.
UINT32 nID = (nPrefFilter != FILTERID_USERCHOICE) ? nPrefFilter : FILTERID_GENERIC;
while (pFilter != NULL && pFilter->FilterID != nID)
{
// Try the next filter
pFilter = Filter::GetNext(pFilter);
}
}
else
{
// We know which type of filter the user had selected in the file dialog
// Find the filter that the user chose.
while (pFilter != NULL)
{
// This is the filter?
if (pFilter->GetFlags().CanImport &&
pFilter->pOILFilter->Position == SelectedPos)
break;
// Try the next filter
pFilter = Filter::GetNext(pFilter);
}
}
// Check that the Filter existed
if (pFilter == NULL)
{
// It did not...
InformError(_R(IDT_CANT_FIND_FILTER));
return FALSE;
}
// Get pointer to current doc 'cos we'll need it several times...
Document* pCurDoc = Document::GetCurrent();
// If this is not a filter family, check for compatibility before asking
// filter to load the file.
// This means the user has chosen an explicit filter to handle the import
PathName Path = pFileToLoad->GetPathName();
String_256 FilePath = Path.GetPath();
// FilePath will be null if a pathname is not valid
if (!pFilter->IS_KIND_OF(FilterFamily) && !FilePath.IsEmpty())
{
UINT32 Size = 1024;
size_t FileSize;
ADDR FilterBuf = pFilter->LoadInitialSegment(Path, &Size, &FileSize);
// If there has been a problem in the load initial segment then fail now.
if (FilterBuf == NULL)
{
// Tell the user about the problem and get out now while the goings good
InformError();
return FALSE;
}
// Inform any filters that we are about to do a HowCompatible call.
// This would allow a set of filters which have common functionality hidden in a
// filter that cannot import and cannot export handle this call and hence set
// itself up. This would allow it to maybe cache a result which should only be
// checked by the first filter in the group.
pFilter->PreHowCompatible();
// Change this to be less than 8 as the filters like the Accusoft forms return
// 8 and 9 to make sure that they are last in the chain.
if (pFilter->HowCompatible(Path, FilterBuf, Size, UINT32(FileSize)) < 8)
{
// Not 100% happy with this file - ask for confirmation.
ErrorInfo Question;
Question.ErrorMsg = _R(IDW_OPENQUERY_NOTSURE);
Question.Button[0] = _R(IDB_OPENQUERY_OPEN);
Question.Button[1] = _R(IDB_OPENQUERY_DONTOPEN);
if ((ResourceID)AskQuestion(&Question) != _R(IDB_OPENQUERY_OPEN))
{
// User asked for this to be cancelled.
TRACEUSER( "Tim", _T("Filter compatibility was less than 10\n"));
// Close the file, report the abort and finish.
CCFree(FilterBuf);
//InformMessage(_R(IDT_IMP_USERABORT));
return FALSE;
}
}
// Get rid of initial file header
CCFree(FilterBuf);
}
// we have to try and open the file
try
{
// Found the Filter, so ask it to import the file please
if (!pFilter->DoImport(this, pFileToLoad, pCurDoc))
{
// Something went a bit wrong - tell the user what it was.
// Only tell them if not special user cancelled error message
if (Error::GetErrorNumber() != _R(IDN_USER_CANCELLED))
{
// Only supress the error if not the special user abort error
// ***** For now use the native EPS filter
if (pFilter->FilterID == FILTERID_NATIVE_EPS &&
Error::GetErrorNumber() != _R(IDT_IMPORT_USERABORT))
{
Error::ClearError();
InformError(_R(IDS_ERRORINARTFILE));
}
else
{
// Tell the user what the problem was
InformError();
wxMessageDialog dlg(
NULL,
_T( "Xara LX failed to load the design.\n\n")
_T( "This is an early demonstration version of the program which does ")
_T( "not yet support all of the data types that can appear in XAR designs."),
_T("Load failed"),
wxOK
);
dlg.ShowModal() ;
}
}
else
{
// otherwise remove the error so it won't get reported
Error::ClearError();
}
// and fail
return FALSE;
}
}
// See if there was a file io errir
catch( CFileException )
{
// Report the error if no one else did, otherwise clear it.
if (Error::GetErrorNumber() != _R(IDN_USER_CANCELLED))
InformError();
else
Error::ClearError();
// and fail
return FALSE;
}
// Success.
return TRUE;
}
void OpMenuSave::Do(OpDescriptor* pOpDesc)
{
//First get the selected document
Document* pdocToSave=Document::GetSelected();
CCamDoc* pccamdocToSave = pdocToSave->GetOilDoc();
if (pdocToSave==NULL || pccamdocToSave==NULL)
{
ERROR2RAW("No default document!");
return;
}
//And we'll need a pointer to the application
Application* pCamelot = GetApplication();
CTemplateManager& TemplateManager( pCamelot->GetTemplateManager() );
//And put the default templates path in the dialog
PathName pathToPutInDialog = TemplateManager.GetTemplatesPath();
FileUtil::RecursiveCreateDirectory( pathToPutInDialog.GetPath() );
//Now create the dialog
SaveTemplateDialog dialogToDisplay(pathToPutInDialog);
//And show it
if (dialogToDisplay.ShowModal() == wxID_OK)
{
//Then get the path they specified, using this amazingly bad, confusing and
//undocumented file dialog code
//The "CString" reference should ideally go in Winoil
PathName pathToSaveTo;
dialogToDisplay.GetChosenFileName(&pathToSaveTo);
wxString cstrPathToSaveTo=pathToSaveTo.GetPath(FALSE);
dialogToDisplay.AppendExtension(&cstrPathToSaveTo);
String_256 strPathToSaveTo=cstrPathToSaveTo;
pathToSaveTo=strPathToSaveTo;
// Create the save file.
CCDiskFile file(pathToSaveTo, ios::out | ios::binary | ios::trunc);
// First find the filter.
Filter *pFilter = FindFilter ( FILTERID_NATIVE );
// Tell it to save attributes.
pFilter->SetSaveAttributes ( TRUE );
// Then save the image to the file.
Save ( pFilter, &file );
//Now, if we should make that path the default path
if (SaveTemplateDialog::m_fUseAsDefault)
{
if (pdocToSave->IsAnimated())
{
CTemplateManager::SetDefaultAnimationTemplate( strPathToSaveTo );
}
else
{
CTemplateManager::SetDefaultDrawingTemplate( strPathToSaveTo );
}
}
if (SaveTemplateDialog::m_fDefaultTemplatesFolder)
{
String_256 strDefaultPath = pathToSaveTo.GetLocation( TRUE );
CTemplateManager::SetTemplatesPath( strDefaultPath );
}
}
// Finished the operation
End();
}
void publishState(void)
{
uint8_t buf[10];
const int ret = libusb_control_transfer(dev, 0xC0, 0x32, 0x0, 0x0, buf, 10, 0);
if (ret != 10)
{
ROS_ERROR_STREAM("Error in accelerometer reading, libusb_control_transfer returned " << ret);
ros::shutdown();
}
const uint16_t ux = ((uint16_t)buf[2] << 8) | buf[3];
const uint16_t uy = ((uint16_t)buf[4] << 8) | buf[5];
const uint16_t uz = ((uint16_t)buf[6] << 8) | buf[7];
const double accelerometer_x = (int16_t)ux;
const double accelerometer_y = (int16_t)uy;
const double accelerometer_z = ((int16_t)uz);
const int8_t tilt_angle = (int8_t)buf[8];
const uint8_t tilt_status = buf[9];
// publish IMU
sensor_msgs::Imu imu_msg;
if (pub_imu.getNumSubscribers() > 0)
{
imu_msg.header.stamp = ros::Time::now();
imu_msg.linear_acceleration.x = filters[0].getValue(interpolators[0].getValue(accelerometer_x) * GRAVITY);
imu_msg.linear_acceleration.y = filters[1].getValue(interpolators[1].getValue(accelerometer_y) * GRAVITY);
imu_msg.linear_acceleration.z = filters[2].getValue(interpolators[2].getValue(accelerometer_z) * GRAVITY);
imu_msg.linear_acceleration_covariance[0] = imu_msg.linear_acceleration_covariance[4]
= imu_msg.linear_acceleration_covariance[8] = 0.01; // @todo - what should these be?
imu_msg.angular_velocity_covariance[0] = -1; // indicates angular velocity not provided
imu_msg.orientation_covariance[0] = -1; // indicates orientation not provided
double magnitude = sqrt((imu_msg.linear_acceleration.x * imu_msg.linear_acceleration.x) + (imu_msg.linear_acceleration.y * imu_msg.linear_acceleration.y) + (imu_msg.linear_acceleration.z + imu_msg.linear_acceleration.z));
//Only publish when the summed magnitued is within 15% of the expected force due to gravity
double error = magnitude - GRAVITY;
double delta = magnitude - lastForce;
double deltaExpected = deltaFilter.getValue(delta);
if(abs(delta - deltaExpected) < (0.1 * GRAVITY) && abs(error) < (GRAVITY * ERROR_MARGIN)){
tf::Quaternion q;
double pitch = -atan2( imu_msg.linear_acceleration.z, sqrt((imu_msg.linear_acceleration.x * imu_msg.linear_acceleration.x) + (imu_msg.linear_acceleration.y * imu_msg.linear_acceleration.y)) );
double roll = atan2( imu_msg.linear_acceleration.x, sqrt((imu_msg.linear_acceleration.z * imu_msg.linear_acceleration.z) + (imu_msg.linear_acceleration.y * imu_msg.linear_acceleration.y)) );
q.setRPY( roll, pitch, 0.0 );
imu_msg.header.frame_id = "/camera_link";
imu_msg.orientation.x = q.x();
imu_msg.orientation.y = q.y();
imu_msg.orientation.z = q.z();
imu_msg.orientation.w = q.w();
pub_imu.publish(imu_msg);
}
}
// publish tilt angle and status
if (pub_tilt_angle.getNumSubscribers() > 0)
{
std_msgs::Float64 tilt_angle_msg;
tilt_angle_msg.data = double(tilt_angle) / 2.;
pub_tilt_angle.publish(tilt_angle_msg);
}
if (pub_tilt_status.getNumSubscribers() > 0)
{
std_msgs::UInt8 tilt_status_msg;
tilt_status_msg.data = tilt_status;
pub_tilt_status.publish(tilt_status_msg);
}
}
ColumnPtr ColumnArray::filterString(const Filter & filt, ssize_t result_size_hint) const
{
size_t col_size = getOffsets().size();
if (col_size != filt.size())
throw Exception("Size of filter doesn't match size of column.", ErrorCodes::SIZES_OF_COLUMNS_DOESNT_MATCH);
if (0 == col_size)
return ColumnArray::create(data);
auto res = ColumnArray::create(data->cloneEmpty());
const ColumnString & src_string = typeid_cast<const ColumnString &>(*data);
const ColumnString::Chars & src_chars = src_string.getChars();
const Offsets & src_string_offsets = src_string.getOffsets();
const Offsets & src_offsets = getOffsets();
ColumnString::Chars & res_chars = typeid_cast<ColumnString &>(res->getData()).getChars();
Offsets & res_string_offsets = typeid_cast<ColumnString &>(res->getData()).getOffsets();
Offsets & res_offsets = res->getOffsets();
if (result_size_hint < 0) /// Other cases are not considered.
{
res_chars.reserve(src_chars.size());
res_string_offsets.reserve(src_string_offsets.size());
res_offsets.reserve(col_size);
}
Offset prev_src_offset = 0;
Offset prev_src_string_offset = 0;
Offset prev_res_offset = 0;
Offset prev_res_string_offset = 0;
for (size_t i = 0; i < col_size; ++i)
{
/// Number of rows in the array.
size_t array_size = src_offsets[i] - prev_src_offset;
if (filt[i])
{
/// If the array is not empty - copy content.
if (array_size)
{
size_t chars_to_copy = src_string_offsets[array_size + prev_src_offset - 1] - prev_src_string_offset;
size_t res_chars_prev_size = res_chars.size();
res_chars.resize(res_chars_prev_size + chars_to_copy);
memcpy(&res_chars[res_chars_prev_size], &src_chars[prev_src_string_offset], chars_to_copy);
for (size_t j = 0; j < array_size; ++j)
res_string_offsets.push_back(src_string_offsets[j + prev_src_offset] + prev_res_string_offset - prev_src_string_offset);
prev_res_string_offset = res_string_offsets.back();
}
prev_res_offset += array_size;
res_offsets.push_back(prev_res_offset);
}
if (array_size)
{
prev_src_offset += array_size;
prev_src_string_offset = src_string_offsets[prev_src_offset - 1];
}
}
return res;
}
int Fixture::getFilter(State & state, b2Fixture * object){
Filter * interfaceFilter = state.getInterface<Filter>("LuaBox2D_Filter");
interfaceFilter->push(new b2Filter(object->GetFilterData()), true);
return 1;
}
int CmdCustom::execute (std::string& output)
{
int rc = 0;
// Load report configuration.
std::string reportColumns = context.config.get ("report." + _keyword + ".columns");
std::string reportLabels = context.config.get ("report." + _keyword + ".labels");
std::string reportSort = context.config.get ("report." + _keyword + ".sort");
std::string reportFilter = context.config.get ("report." + _keyword + ".filter");
if (reportFilter != "")
reportFilter = "( " + reportFilter + " )";
std::vector <std::string> columns;
split (columns, reportColumns, ',');
validateReportColumns (columns);
std::vector <std::string> labels;
split (labels, reportLabels, ',');
if (columns.size () != labels.size () && labels.size () != 0)
throw format (STRING_CMD_CUSTOM_MISMATCH, _keyword);
std::vector <std::string> sortOrder;
split (sortOrder, reportSort, ',');
validateSortColumns (sortOrder);
// Prepend the argument list with those from the report filter.
context.cli.addRawFilter (reportFilter);
// Apply filter.
handleRecurrence ();
Filter filter;
std::vector <Task> filtered;
filter.subset (filtered);
// Sort the tasks.
std::vector <int> sequence;
for (unsigned int i = 0; i < filtered.size (); ++i)
sequence.push_back (i);
sort_tasks (filtered, sequence, reportSort);
// Configure the view.
ViewTask view;
view.width (context.getWidth ());
view.leftMargin (context.config.getInteger ("indent.report"));
view.extraPadding (context.config.getInteger ("row.padding"));
view.intraPadding (context.config.getInteger ("column.padding"));
Color label (context.config.get ("color.label"));
view.colorHeader (label);
Color label_sort (context.config.get ("color.label.sort"));
view.colorSortHeader (label_sort);
Color alternate (context.config.get ("color.alternate"));
view.colorOdd (alternate);
view.intraColorOdd (alternate);
// Capture columns that are sorted.
std::vector <std::string> sortColumns;
// Add the break columns, if any.
std::vector <std::string>::iterator so;
for (so = sortOrder.begin (); so != sortOrder.end (); ++so)
{
std::string name;
bool ascending;
bool breakIndicator;
context.decomposeSortField (*so, name, ascending, breakIndicator);
if (breakIndicator)
view.addBreak (name);
sortColumns.push_back (name);
}
// Add the columns and labels.
for (unsigned int i = 0; i < columns.size (); ++i)
{
Column* c = Column::factory (columns[i], _keyword);
if (i < labels.size ())
c->setLabel (labels[i]);
bool sort = std::find (sortColumns.begin (), sortColumns.end (), c->name ()) != sortColumns.end ()
? true
: false;
view.add (c, sort);
}
// How many lines taken up by table header?
int table_header = 0;
if (context.verbose ("label"))
{
if (context.color () && context.config.getBoolean ("fontunderline"))
table_header = 1; // Underlining doesn't use extra line.
else
table_header = 2; // Dashes use an extra line.
}
// Report output can be limited by rows or lines.
int maxrows = 0;
int maxlines = 0;
context.getLimits (maxrows, maxlines);
// Adjust for fluff in the output.
if (maxlines)
maxlines -= table_header
+ (context.verbose ("blank") ? 1 : 0)
+ (context.verbose ("footnote") ? context.footnotes.size () : 0)
+ (context.verbose ("affected") ? 1 : 0)
+ context.config.getInteger ("reserved.lines"); // For prompt, etc.
// Render.
std::stringstream out;
if (filtered.size ())
{
view.truncateRows (maxrows);
view.truncateLines (maxlines);
out << optionalBlankLine ()
<< view.render (filtered, sequence)
<< optionalBlankLine ();
// Print the number of rendered tasks
if (context.verbose ("affected"))
{
out << (filtered.size () == 1
? STRING_CMD_CUSTOM_COUNT
: format (STRING_CMD_CUSTOM_COUNTN, filtered.size ()));
if (maxrows && maxrows < (int)filtered.size ())
out << ", " << format (STRING_CMD_CUSTOM_SHOWN, maxrows);
if (maxlines && maxlines < (int)filtered.size ())
out << ", "
<< format (STRING_CMD_CUSTOM_TRUNCATED, maxlines - table_header);
out << "\n";
}
}
else
{
context.footnote (STRING_FEEDBACK_NO_MATCH);
rc = 1;
}
feedback_backlog ();
output = out.str ();
return rc;
}
static void filter(Filter& f, PointView& view)
{
f.filter(view);
}
int CmdModify::execute (std::string& output)
{
int rc = 0;
int count = 0;
// Apply filter.
Filter filter;
std::vector <Task> filtered;
filter.subset (filtered);
if (filtered.size () == 0)
{
context.footnote (STRING_FEEDBACK_NO_TASKS_SP);
return 1;
}
// TODO Complain when no modifications are specified.
// Accumulated project change notifications.
std::map <std::string, std::string> projectChanges;
std::vector <Task>::iterator task;
for (task = filtered.begin (); task != filtered.end (); ++task)
{
Task before (*task);
task->modify (Task::modReplace);
if (taskDiff (before, *task))
{
// Perform some logical consistency checks.
if (task->has ("recur") &&
!task->has ("due") &&
!before.has ("due"))
throw std::string (STRING_CMD_MODIFY_NO_DUE);
if (before.has ("recur") &&
before.has ("due") &&
(!task->has ("due") ||
task->get ("due") == ""))
throw std::string (STRING_CMD_MODIFY_REM_DUE);
if (before.has ("recur") &&
(!task->has ("recur") ||
task->get ("recur") == ""))
throw std::string (STRING_CMD_MODIFY_REC_ALWAYS);
// Delete the specified task.
std::string question;
if (task->id != 0)
question = format (STRING_CMD_MODIFY_CONFIRM,
task->id,
task->get ("description"));
else
question = format (STRING_CMD_MODIFY_CONFIRM,
task->get ("uuid"),
task->get ("description"));
if (permission (*task, taskDifferences (before, *task) + question, filtered.size ()))
{
updateRecurrenceMask (*task);
dependencyChainOnModify (before, *task);
++count;
feedback_affected (STRING_CMD_MODIFY_TASK, *task);
feedback_unblocked (*task);
context.tdb2.modify (*task);
if (context.verbose ("project"))
projectChanges[task->get ("project")] = onProjectChange (before, *task);
// Task potentially has siblings - modify them.
if (task->has ("parent"))
{
if ((context.config.get ("recurrence.confirmation") == "prompt"
&& confirm (STRING_CMD_MODIFY_RECUR)) ||
context.config.getBoolean ("recurrence.confirmation"))
{
std::vector <Task> siblings = context.tdb2.siblings (*task);
std::vector <Task>::iterator sibling;
for (sibling = siblings.begin (); sibling != siblings.end (); ++sibling)
{
Task alternate (*sibling);
sibling->modify (Task::modReplace);
updateRecurrenceMask (*sibling);
dependencyChainOnModify (alternate, *sibling);
++count;
feedback_affected (STRING_CMD_MODIFY_TASK_R, *sibling);
feedback_unblocked (*sibling);
context.tdb2.modify (*sibling);
if (context.verbose ("project"))
projectChanges[sibling->get ("project")] = onProjectChange (alternate, *sibling);
}
// Modify the parent
Task parent;
context.tdb2.get (task->get ("parent"), parent);
parent.modify (Task::modReplace);
context.tdb2.modify (parent);
}
}
// Task potentially has child tasks - modify them.
else if (task->get ("status") == "recurring")
{
std::vector <Task> children = context.tdb2.children (*task);
if (children.size () &&
(! context.config.getBoolean ("recurrence.confirmation") ||
confirm (STRING_CMD_MODIFY_RECUR)))
{
std::vector <Task>::iterator child;
for (child = children.begin (); child != children.end (); ++child)
{
Task alternate (*child);
child->modify (Task::modReplace);
updateRecurrenceMask (*child);
context.tdb2.modify (*child);
dependencyChainOnModify (alternate, *child);
if (context.verbose ("project"))
projectChanges[child->get ("project")] = onProjectChange (alternate, *child);
++count;
feedback_affected (STRING_CMD_MODIFY_TASK_R, *child);
}
}
}
}
else
{
std::cout << STRING_CMD_MODIFY_NO << "\n";
rc = 1;
if (_permission_quit)
break;
}
}
}
// Now list the project changes.
std::map <std::string, std::string>::iterator i;
for (i = projectChanges.begin (); i != projectChanges.end (); ++i)
if (i->first != "")
context.footnote (i->second);
feedback_affected (count == 1 ? STRING_CMD_MODIFY_1 : STRING_CMD_MODIFY_N, count);
return rc;
}
void INIParser::process(const wstring& line, bool eof)
{
static const RegExp re1 = L"/^(\\w+)=(.*)$/";
static const RegExp re2 = L"/^\\s*\\[(.+)\\]\\s*$/";
static const RegExp re3 = L"/\\\\\\[/g";
static const wstring strTitle = L"title";
static const wstring strDisabled = L"disabled";
static const wstring strTrue = L"true";
static const wstring strLeftBracket = L"[";
RegExpMatch match;
bool ret = false;
if (wantObj && re1.exec(match, line))
{
curObj[match.substrings[1]] = match.substrings[2];
}
else if (eof || (ret = re2.exec(match, line)))
{
wstring strSection;
if (ret)
{
strSection = toLowerCase(match.substrings[1]);
}
if (wantObj ? curObj.size() : curList.size())
{
// Process current object before going to next section
switch (curSection)
{
case FILTER:
case PATTERN:
// create the filter, with certain properties set up
// do not insert it into the filters set
// if it's active, it'll be inserted in some subscription we'll later parse
persistedFilters.insert(Filter::fromObject(curObj));
break;
case SUBSCRIPTION:
// not supported, just record whether the whole subscription is disabled or not
{
auto iter = curObj.find(strDisabled);
subscriptionDisabled =
iter != curObj.end() && iter->second == strTrue;
if (hasExcludedSubscriptions)
{
auto iterTitle = curObj.find(strTitle);
subscriptionExcluded = iterTitle != curObj.end() &&
reExcludedSubscriptions.test(iterTitle->second);
}
else
{
subscriptionExcluded = false;
}
}
break;
case SUBSCRIPTION_FILTERS:
case SUBSCRIPTION_PATTERNS:
case USER_PATTERNS:
if (!subscriptionDisabled && !subscriptionExcluded)
{
for (size_t i = 0; i < curList.size(); i++)
{
const wstring& text = curList[i];
Filter* filter = Filter::fromText(text);
// need to reset the disabled property since we don't clear
// the global filter list between reloads
ActiveFilter* activeFilter = filter->toActiveFilter();
if (activeFilter)
{
// Only reset disabled property for those not persisted yet
if (persistedFilters.find(filter) == persistedFilters.end())
activeFilter->setDisabled(false);
// just put the filter in INIParser::filters
filters.insert(activeFilter);
}
}
}
subscriptionDisabled = false;
subscriptionExcluded = false;
}
}
// Do clean-up
curSection = OTHER;
if (wantObj)
curObj.clear();
else
curList.clear();
if (eof)
{
subscriptionDisabled = false;
subscriptionExcluded = false;
return;
}
auto iter = sectionMapper.find(strSection);
if (iter != sectionMapper.end())
{
curSection = iter->second;
switch (curSection)
{
case FILTER:
case PATTERN:
case SUBSCRIPTION:
wantObj = true;
break;
case SUBSCRIPTION_FILTERS:
case SUBSCRIPTION_PATTERNS:
case USER_PATTERNS:
default:
wantObj = false;
}
}
}
else if (!wantObj && line.length() && !subscriptionDisabled && !subscriptionExcluded)
{
curList.push_back(replace(line, re3, strLeftBracket));
}
}
ColumnPtr ColumnArray::filterString(const Filter & filt, ssize_t result_size_hint) const
{
size_t col_size = getOffsets().size();
if (col_size != filt.size())
throw Exception("Size of filter doesn't match size of column.", ErrorCodes::SIZES_OF_COLUMNS_DOESNT_MATCH);
if (0 == col_size)
return std::make_shared<ColumnArray>(data);
auto res = std::make_shared<ColumnArray>(data->cloneEmpty());
const ColumnString & src_string = typeid_cast<const ColumnString &>(*data);
const ColumnString::Chars_t & src_chars = src_string.getChars();
const Offsets_t & src_string_offsets = src_string.getOffsets();
const Offsets_t & src_offsets = getOffsets();
ColumnString::Chars_t & res_chars = typeid_cast<ColumnString &>(res->getData()).getChars();
Offsets_t & res_string_offsets = typeid_cast<ColumnString &>(res->getData()).getOffsets();
Offsets_t & res_offsets = res->getOffsets();
if (result_size_hint < 0) /// Остальные случаи не рассматриваем.
{
res_chars.reserve(src_chars.size());
res_string_offsets.reserve(src_string_offsets.size());
res_offsets.reserve(col_size);
}
Offset_t prev_src_offset = 0;
Offset_t prev_src_string_offset = 0;
Offset_t prev_res_offset = 0;
Offset_t prev_res_string_offset = 0;
for (size_t i = 0; i < col_size; ++i)
{
/// Количество строк в массиве.
size_t array_size = src_offsets[i] - prev_src_offset;
if (filt[i])
{
/// Если массив не пуст - копируем внутренности.
if (array_size)
{
size_t chars_to_copy = src_string_offsets[array_size + prev_src_offset - 1] - prev_src_string_offset;
size_t res_chars_prev_size = res_chars.size();
res_chars.resize(res_chars_prev_size + chars_to_copy);
memcpy(&res_chars[res_chars_prev_size], &src_chars[prev_src_string_offset], chars_to_copy);
for (size_t j = 0; j < array_size; ++j)
res_string_offsets.push_back(src_string_offsets[j + prev_src_offset] + prev_res_string_offset - prev_src_string_offset);
prev_res_string_offset = res_string_offsets.back();
}
prev_res_offset += array_size;
res_offsets.push_back(prev_res_offset);
}
if (array_size)
{
prev_src_offset += array_size;
prev_src_string_offset = src_string_offsets[prev_src_offset - 1];
}
}
return res;
}
bool Filter::operator==(const Filter& filter) const
{
return GetProperty("text")->AsString() == filter.GetProperty("text")->AsString();
}
/**
* The playback thread code
* \internal
*/
void *narrator_thread(void *narrator)
{
//Narrator *n = static_cast<Narrator *>(narrator);
Narrator *n = (Narrator*)narrator;
int queueitems;
// Set initial values to 0 so that they get updated when thread gets play signal
float gain = 0;
float tempo = 0;
float pitch = 0;
PortAudio portaudio;
Filter filter;
Narrator::threadState state = n->getState();
LOG4CXX_INFO(narratorLog, "Starting playback thread");
do {
queueitems = n->numPlaylistItems();
if(queueitems == 0) {
// Wait a little before calling callback
long waitms = portaudio.getRemainingms();
if(waitms != 0) {
LOG4CXX_DEBUG(narratorLog, "Waiting " << waitms << " ms for playback to finish");
while(waitms > 0 && queueitems == 0) {
usleep(100000);
queueitems = n->numPlaylistItems();
waitms -= 100;
}
}
// Break if we during the pause got some more queued items to play
if(queueitems == 0) {
if(state != Narrator::DEAD)
n->audioFinishedPlaying();
n->setState(Narrator::WAIT);
LOG4CXX_INFO(narratorLog, "Narrator in WAIT state");
portaudio.stop();
while(queueitems == 0) {
state = n->getState();
if(state == Narrator::EXIT) break;
usleep(10000);
queueitems = n->numPlaylistItems();
}
}
LOG4CXX_INFO(narratorLog, "Narrator starting playback");
}
if(state == Narrator::EXIT) break;
n->setState(Narrator::PLAY);
n->bResetFlag = false;
Narrator::PlaylistItem pi;
pthread_mutex_lock(n->narratorMutex);
if(n->mPlaylist.size() > 0) {
pi = n->mPlaylist.front();
n->mPlaylist.pop();
} else {
LOG4CXX_ERROR(narratorLog, "Narrator started playback thread without playlistitems");
pthread_mutex_unlock(n->narratorMutex);
continue;
}
string lang = n->mLanguage;
pthread_mutex_unlock(n->narratorMutex);
// If trying to play a file, open it
if(pi.mClass == "file") {
LOG4CXX_DEBUG(narratorLog, "Playing file: " << pi.mIdentifier);
AudioStream *audioStream;
std::string fileExtension = getFileExtension(pi.mIdentifier);
if (fileExtension == "ogg")
{
audioStream = new OggStream;
}
else if (fileExtension == "mp3")
{
audioStream = new Mp3Stream;
}
else
{
LOG4CXX_ERROR(narratorLog, "extension '" << fileExtension << "' not supported");
continue;
}
if(!audioStream->open(pi.mIdentifier)) {
LOG4CXX_ERROR(narratorLog, "error opening audio stream: " << pi.mIdentifier);
audioStream->close();
continue;
}
if (portaudio.getRate() != audioStream->getRate())
{
long waitms = portaudio.getRemainingms();
if (waitms != 0)
{
LOG4CXX_DEBUG(narratorLog, "Waiting for current playback to finish");
while (waitms > 0)
{
usleep(100000);
waitms -= 100;
}
}
}
if(!portaudio.open(audioStream->getRate(), audioStream->getChannels())) {
LOG4CXX_ERROR(narratorLog, "error initializing portaudio, (rate: " << audioStream->getRate() << " channels: " << audioStream->getChannels() << ")");
continue;
}
if(!filter.open(audioStream->getRate(), audioStream->getChannels())) {
LOG4CXX_ERROR(narratorLog, "error initializing filter");
continue;
}
LOG4CXX_DEBUG(narratorLog, "Audio stream has " << audioStream->getChannels() << " channel(s) and rate " << audioStream->getRate() << " Hz");
int inSamples = 0;
soundtouch::SAMPLETYPE* buffer = new soundtouch::SAMPLETYPE[audioStream->getChannels()*BUFFERSIZE];
//buffer = (short*)malloc(sizeof(short) * 2 * BUFFERSIZE);
// long totalSamplesRead = 0;
do {
// change gain, tempo and pitch
adjustGainTempoPitch(n, filter, gain, tempo, pitch);
// read some stuff from the audio stream
inSamples = audioStream->read(buffer, BUFFERSIZE/**audioStream->getChannels()*/);
LOG4CXX_TRACE(narratorLog, "got " << inSamples << " samples");
//printf("Read %d samples from audio stream\n", inSamples);
if(inSamples != 0) {
filter.write(buffer, inSamples); // One sample contains data for all channels here
writeSamplesToPortaudio( n, portaudio, filter, buffer );
} else {
LOG4CXX_INFO(narratorLog, "Flushing soundtouch buffer");
filter.flush();
}
state = n->getState();
} while (inSamples != 0 && state == Narrator::PLAY && !n->bResetFlag);
if(buffer != NULL) delete [] (buffer);
audioStream->close();
delete audioStream;
}
// Else try opening from database
else {
vector <MessageAudio> vAudioQueue;
// Get a list of MessageAudio objects to play
Message *m = pi.mMessage;
if(m==NULL){
LOG4CXX_ERROR(narratorLog, "Message was null");
}
m->setLanguage(lang);
m->load(pi.mIdentifier, pi.mClass);
if(!m->compile() || !m->hasAudio()) {
LOG4CXX_ERROR(narratorLog, "Narrator translation not found: could not find audio for '" << pi.mIdentifier << "'");
} else {
vAudioQueue = m->getAudioQueue();
}
// Play what we got
if(vAudioQueue.size() > 0) {
vector <MessageAudio>::iterator audio;
audio = vAudioQueue.begin();
do {
LOG4CXX_INFO(narratorLog, "Saying: " << audio->getText());
AudioStream *audioStream;
std::string encoding = ((MessageAudio&)*audio).getEncoding();
if (encoding == "ogg")
{
audioStream = new OggStream;
}
else if (encoding == "mp3")
{
audioStream = new Mp3Stream;
}
else
{
LOG4CXX_ERROR(narratorLog, "encoding '" << encoding << "' not supported");
audio++;
continue;
}
if(!audioStream->open(*audio)) {
LOG4CXX_ERROR(narratorLog, "error opening audio stream");
audioStream->close();
break;
}
if (portaudio.getRate() != audioStream->getRate())
{
long waitms = portaudio.getRemainingms();
if (waitms != 0)
{
LOG4CXX_DEBUG(narratorLog, "Waiting for current playback to finish");
while (waitms > 0)
{
usleep(100000);
waitms -= 100;
}
}
}
if(!portaudio.open(audioStream->getRate(), audioStream->getChannels())) {
LOG4CXX_ERROR(narratorLog, "error initializing portaudio");
break;
}
if(!filter.open(audioStream->getRate(), audioStream->getChannels())) {
LOG4CXX_ERROR(narratorLog, "error initializing filter");
break;
}
int inSamples = 0;
soundtouch::SAMPLETYPE* buffer = new soundtouch::SAMPLETYPE[audioStream->getChannels()*BUFFERSIZE];
do {
// change gain, tempo and pitch
adjustGainTempoPitch(n, filter, gain, tempo, pitch);
// read some stuff from the audio stream
inSamples = audioStream->read(buffer, BUFFERSIZE*audioStream->getChannels());
if(inSamples != 0) {
filter.write(buffer, inSamples);
writeSamplesToPortaudio( n, portaudio, filter, buffer );
} else {
LOG4CXX_INFO(narratorLog, "Flushing soundtouch buffer");
filter.flush();
}
state = n->getState();
} while (inSamples != 0 && state == Narrator::PLAY && !n->bResetFlag);
if(buffer != NULL) delete [] (buffer);
audioStream->close();
audio++;
} while(audio != vAudioQueue.end() && state == Narrator::PLAY && !n->bResetFlag);
}
//Cleanup message object
delete(pi.mMessage);
}
// Abort stream?
if(n->bResetFlag) {
n->bResetFlag = false;
portaudio.stop();
filter.clear();
}
} while(state != Narrator::EXIT);
LOG4CXX_INFO(narratorLog, "Shutting down playbackthread");
pthread_exit(NULL);
return NULL;
}
IntSize FEGaussianBlur::calculateKernelSize(const Filter& filter, const FloatPoint& stdDeviation)
{
FloatPoint stdFilterScaled(filter.applyHorizontalScale(stdDeviation.x()), filter.applyVerticalScale(stdDeviation.y()));
return calculateUnscaledKernelSize(stdFilterScaled);
}
NoOptionsPipe() {
or2_ = new Filter;
or2_->set_opt_value("min-fragment", 10);
add(or2_);
}
int SDLCALL watch_filter(void* filter, SDL_Event* event) {
Filter* f = static_cast<Filter*>(filter);
return f->ask_input(event);
}
void MainWindow::onFilterBtnClicked()
{
Filter *fd = new Filter(this, *dbh, this);
fd->show();
}
IMAGE *process_pipeline(IMAGE *image){
if(!image){
/// "Не задано входное изображение"
ERRX(_("No input image given"));
}
if(!farray || !farray_size){
/// "Не заданы параметры конвейера"
WARNX(_("No pipeline parameters given"));
}
size_t i;
Filter **far = farray;
IMAGE *in = copyFITS(image); // copy original image to leave it unchanged
IMAGE *processed = NULL;
for(i = 0; i < farray_size; ++i, ++far){
Filter *f = *far;
DBG("Got filter #%d: w=%d, h=%d, sx=%g, sy=%g\n", f->FilterType,
f->w, f->h, f->sx, f->sy);
printf("try filter %zd\n", i);
Itmarray oarg = {NULL, 0};
processed = f->imfunc(in, f, &oarg);
/// "Ошибка в обработке конвейера"
if(!processed) ERRX(_("Error on pipeline processing!"));
// TODO: what should I do with oarg???
if(oarg.size){
size_t i, l = oarg.size;
//if(verbose_level){
green("got oarg: \n");
for(i = 0; i < l; ++i){
printf("%5zd: %g\n", i, oarg.data[i]);
}
//}
char tabname[80];
snprintf(tabname, 80, "%s_CONVERSION", f->name);
FITStable *tab = table_new(processed, tabname);
if(tab){
table_column col = {
.width = sizeof(int32_t),
.repeat = l,
.coltype = TINT
};
int32_t *levls = MALLOC(int32_t, l);
for(i = 0; i < l; ++i) levls[i] = (int32_t) i;
col.contents = levls;
sprintf(col.colname, "level");
*col.unit = 0;
table_addcolumn(tab, &col);
FREE(levls);
col.contents = oarg.data;
col.coltype = TDOUBLE;
col.width = sizeof(double),
sprintf(col.colname, "value");
sprintf(col.unit, "ADU");
table_addcolumn(tab, &col);
printf("Create table:\n");
table_print(tab);
}
FREE(oarg.data);
}
processed->keylist = in->keylist;
char changes[FLEN_CARD];
snprintf(changes, FLEN_CARD, "HISTORY modified by routine %s", f->name);
list_add_record(&(processed->keylist), changes);
//list_print(processed->keylist);
in->keylist = NULL; // prevent deleting global keylist
imfree(&in);
in = processed;
}
return processed;
}
int Field::plant_filter( Filter &filter, int track )
{
return mlt_field_plant_filter( get_field( ), filter.get_filter( ), track );
}
void BiconnectedDecomposer::getComponent (int idx, Filter &filter) const
{
filter.init(_components[idx]->ptr(), Filter::EQ, 1);
}
void set_scaling_method(Filter & filter, scaling_method_e scaling_method, double filter_factor)
{
switch(scaling_method)
{
case SCALING_BILINEAR:
filter.calculate(agg::image_filter_bilinear(), true); break;
case SCALING_BICUBIC:
filter.calculate(agg::image_filter_bicubic(), true); break;
case SCALING_SPLINE16:
filter.calculate(agg::image_filter_spline16(), true); break;
case SCALING_SPLINE36:
filter.calculate(agg::image_filter_spline36(), true); break;
case SCALING_HANNING:
filter.calculate(agg::image_filter_hanning(), true); break;
case SCALING_HAMMING:
filter.calculate(agg::image_filter_hamming(), true); break;
case SCALING_HERMITE:
filter.calculate(agg::image_filter_hermite(), true); break;
case SCALING_KAISER:
filter.calculate(agg::image_filter_kaiser(), true); break;
case SCALING_QUADRIC:
filter.calculate(agg::image_filter_quadric(), true); break;
case SCALING_CATROM:
filter.calculate(agg::image_filter_catrom(), true); break;
case SCALING_GAUSSIAN:
filter.calculate(agg::image_filter_gaussian(), true); break;
case SCALING_BESSEL:
filter.calculate(agg::image_filter_bessel(), true); break;
case SCALING_MITCHELL:
filter.calculate(agg::image_filter_mitchell(), true); break;
case SCALING_SINC:
filter.calculate(agg::image_filter_sinc(filter_factor), true); break;
case SCALING_LANCZOS:
filter.calculate(agg::image_filter_lanczos(filter_factor), true); break;
case SCALING_BLACKMAN:
filter.calculate(agg::image_filter_blackman(filter_factor), true); break;
default:
break;
}
}
Vector move(const Vector &v)
{
return F->filt(I.integrate(v));
}